Machine-learning systems and techniques to optimize teleoperation and/or planner decisions

ABSTRACT

A system, an apparatus or a process may be configured to implement an application that applies artificial intelligence and/or machine-learning techniques to predict an optimal course of action (or a subset of courses of action) for an autonomous vehicle system (e.g., one or more of a planner of an autonomous vehicle, a simulator, or a teleoperator) to undertake based on suboptimal autonomous vehicle performance and/or changes in detected sensor data (e.g., new buildings, landmarks, potholes, etc.). The application may determine a subset of trajectories based on a number of decisions and interactions when resolving an anomaly due to an event or condition. The application may use aggregated sensor data from multiple autonomous vehicles to assist in identifying events or conditions that might affect travel (e.g., using semantic scene classification). An optimal subset of trajectories may be formed based on recommendations responsive to semantic changes (e.g., road construction).

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.15/393,228, filed Dec. 28, 2016, which is a continuation of U.S.application Ser. No. 14/933,602, filed Nov. 5, 2015, which is acontinuation-in-part of the following U.S. non-provisional patentapplications: U.S. patent application Ser. No. 14/932,959 filed Nov. 4,2015 entitled “Autonomous Vehicle Fleet Service And System;” U.S. patentapplication Ser. No. 14/932,963 filed Nov. 4, 2015 entitled “AdaptiveMapping To Navigate Autonomous Vehicles Responsive To PhysicalEnvironment Changes;” U.S. patent application Ser. No. 14/932,966 filedNov. 4, 2015 entitled “Teleoperation System And Method For TrajectoryModification Of Autonomous Vehicles;” and U.S. patent application Ser.No. 14/932,940 filed Nov. 4, 2015 entitled “Automated Extraction ofSemantic Information to Enhance Incremental Mapping Modifications forRobotic Vehicles;” all of which are hereby incorporated by reference intheir entirety for all purposes.

FIELD

Various embodiments relate generally to autonomous vehicles andassociated mechanical, electrical and electronic hardware, computersoftware and systems, and wired and wireless network communications toprovide automated decision selection and execution in autonomousvehicles.

BACKGROUND

Environments in which an autonomous vehicle may be tasked to navigate inmay change over time due to changes in patterns of use (e.g., bypedestrians}, road infrastructure (e.g., traffic signs, traffic lights,road markings, etc.) road conditions (e.g., road construction, a laneclosure, potholes, an obstruction on a road surface, etc.). Changes inroad conditions, such as lane closures, potholes and the like mayrequire the autonomous vehicle to take appropriate actions to alter aninitial guided path to a revised guided path. However, detecting eventsthat may give rise to the need to implement a change may not beeffective if the autonomous vehicle is not configured to predict acourse of action to take based on a newly detected event. Moreover,information associated with an event and responses taken by theautonomous vehicle in response to the event may not benefit otherautonomous vehicles that may also encounter a similar event unless theinformation and/or response is disseminated to the other autonomousvehicles.

Thus, what is needed is a solution to implement event detection thatpredicts optimal courses of action responsive to the event, without thelimitations of conventional techniques.

BRIEF DESCRIPTION OF THE DRAWINGS

Various embodiments or examples (“examples”) of the invention aredisclosed in the following detailed description and the accompanyingdrawings:

FIG. 1 is a diagram depicting implementation of a fleet of autonomousvehicles that are communicatively networked to an autonomous vehicleservice platform, according to some embodiments;

FIG. 2 is an example of a flow diagram to monitor a fleet of autonomousvehicles, according to some embodiments;

FIG. 3A is a diagram depicting examples of sensors and other autonomousvehicle components, according to some examples;

FIGS. 3B to 3E are diagrams depicting examples of sensor fieldredundancy and autonomous vehicle adaption to a loss of a sensor field,according to some examples;

FIG. 4 is a functional block diagram depicting a system including anautonomous vehicle service platform that is communicatively coupled viaa communication layer to an autonomous vehicle controller, according tosome examples;

FIG. 5 is an example of a flow diagram to control an autonomous vehicle,according to some embodiments;

FIG. 6 is a diagram depicting an example of an architecture for anautonomous vehicle controller, according to some embodiments;

FIG. 7 is a diagram depicting an example of an autonomous vehicleservice platform implementing redundant communication channels tomaintain reliable communications with a fleet of autonomous vehicles,according to some embodiments;

FIG. 8 is a diagram depicting an example of a messaging applicationconfigured to exchange data among various applications, according tosome embodiment;

FIG. 9 is a diagram depicting types of data for facilitating 5teleoperations using a communications protocol described in FIG. 8,according to some examples;

FIG. 10 is a diagram illustrating an example of a teleoperator interfacewith which a teleoperator may influence path planning, according to someembodiments;

FIG. 11 is a diagram depicting an example of a planner configured toinvoke teleoperations, according to some examples;

FIG. 12 is an example of a flow diagram configured to control anautonomous vehicle, according to some embodiments;

FIG. 13 depicts an example in which a planner may generate a trajectory,according to some examples;

FIG. 14 is a diagram depicting another example of an autonomous vehicleservice platform, according to some embodiments;

FIG. 15 is an example of a flow diagram to control an autonomousvehicle, according to some embodiments;

FIG. 16 is a diagram of an example of an autonomous vehicle fleetmanager implementing a fleet optimization manager, according to someexamples;

FIG. 17 is an example of a flow diagram for managing a fleet ofautonomous vehicles, according to some embodiments;

FIG. 18 is a diagram illustrating an autonomous vehicle fleet managerimplementing an autonomous vehicle communications link manager,according to some embodiments;

FIG. 19 is an example of a flow diagram to determine actions forautonomous vehicles during an event, according to some embodiments;

FIG. 20 is a diagram depicting an example of a localizer, according tosome embodiments;

FIG. 21 is an example of a flow diagram to generate local pose databased on integrated sensor data, according to some embodiments;

FIG. 22 is a diagram depicting another example of a localizer, accordingto some embodiments;

FIG. 23 is a diagram depicting an example of a perception engine,according to some embodiments;

FIG. 24 is an example of a flow chart to generate perception enginedata, according to some embodiments;

FIG. 25 is an example of a segmentation processor, according to someembodiments;

FIG. 26A is a diagram depicting examples of an object tracker and aclassifier, according to various embodiments;

FIG. 26B is a diagram depicting another example of an object trackeraccording to at least some examples;

FIG. 27 is an example of front-end processor for a perception engine,according to some examples;

FIG. 28 is a diagram depicting a simulator configured to simulate anautonomous vehicle in a synthetic environment, according to variousembodiments;

FIG. 29 is an example of a flow chart to simulate various aspects of anautonomous vehicle, according to some embodiments;

FIG. 30 is an example of a flow chart to generate map data, according tosome embodiments;

FIG. 31 is a diagram depicting an architecture of a mapping engine,according to some embodiments

FIG. 32 is a diagram depicting an autonomous vehicle application,according to some examples;

FIGS. 33 to 35 illustrate examples of various computing platformsconfigured to provide various functionalities to components of anautonomous vehicle service, according to various embodiments;

FIG. 36 is a diagram depicting implementation of a policy explorerconfigured to provide updated policy data to one or more autonomousvehicles in a fleet of autonomous vehicles, according to variousexamples;

FIG. 37 depicts an example of a flow chart to generate updated policydata, according to various examples;

FIG. 38 is a diagram depicting implementation of a policy explorer in asimulator, according to various examples; and

FIG. 39 is a diagram depicting implementation of a policy explorer in ateleoperator, according to various examples.

Although the above-described drawings depict various examples of theinvention, the invention is not limited by the depicted examples. It isto be understood that, in the drawings, like reference numeralsdesignate like structural elements. Also, it is understood that thedrawings are not necessarily to scale.

DETAILED DESCRIPTION

Various embodiments or examples may be implemented in numerous ways,including as a system, a process, an apparatus, a user interface, or aseries of program instructions on a computer readable medium such as acomputer readable storage medium or a computer network where the programinstructions are sent over optical, electronic, or wirelesscommunication links. In general, operations of disclosed processes maybe performed in an arbitrary order, unless otherwise provided in theclaims.

A detailed description of one or more examples is provided below alongwith accompanying figures. The detailed description is provided inconnection with such examples, but is not limited to any particularexample. The scope is limited only by the claims, and numerousalternatives, modifications, and equivalents thereof. Numerous specificdetails are set forth in the following description in order to provide athorough understanding. These details are provided for the purpose ofexample and the described techniques may be practiced according to theclaims without some or all of these specific details. For clarity,technical material that is known in the technical fields related to theexamples has not been described in detail to avoid unnecessarilyobscuring the description.

FIG. 1 is a diagram depicting an implementation of a fleet of autonomousvehicles that are communicatively networked to an autonomous vehicleservice platform, according to some embodiments. Diagram 100 depicts afleet of autonomous vehicles 109 (e.g., one or more of autonomousvehicles 109 a to 10 ge) operating as a service, each autonomous vehicle109 being configured to self-drive a road network 110 and establish acommunication link 192 with an autonomous vehicle service platform 101.In examples in which a fleet of autonomous vehicles 109 constitutes aservice, a user 102 may transmit a request 103 for autonomoustransportation via one or more networks 106 to autonomous vehicleservice platform 101. In response, autonomous vehicle service platform101 may dispatch one of autonomous vehicles 109 to transport user 102autonomously from geographic location 119 to geographic location 111.Autonomous vehicle service platform 101 may dispatch an autonomousvehicle from a station 190 to geographic location 119, or may divert anautonomous vehicle 109 c, already in transit (e.g., without occupants),to service the transportation request for user 102. Autonomous vehicleservice platform 101 may be further configured to divert an autonomousvehicle 109 c in transit, with passengers, responsive to a request fromuser 102 (e.g., as a passenger). In addition, autonomous vehicle serviceplatform 101 may be configured to reserve an autonomous vehicle 109 c intransit, with passengers, for diverting to service a request of user 102subsequent to dropping off existing passengers. Note that multipleautonomous vehicle service platforms 101 (not shown) and one or morestations 190 may be implemented to service one or more autonomousvehicles 109 in connection with road network 110. One or more stations190 may be configured to store, service, manage, and/or maintain aninventory of autonomous vehicles 109 (e.g., station 190 may include oneor more computing devices implementing autonomous vehicle serviceplatform 101).

According to some examples, at least some of autonomous vehicles 109 ato 109 e are configured as bidirectional autonomous vehicles, such asbidirectional autonomous vehicle (“AV”) 130. Bidirectional autonomousvehicle 130 may be configured to travel in either direction principallyalong, but not limited to, a longitudinal axis 131. Accordingly,bidirectional autonomous vehicle 130 may be configured to implementactive lighting external to the vehicle to alert others (e.g., otherdrivers, pedestrians, cyclists, etc.) in the adjacent vicinity, and adirection in which bidirectional autonomous vehicle 130 is traveling.For example, active sources of light 136 may be implemented as activelights 138 a when traveling in a first direction, or may be implementedas active lights 138 b when traveling in a second direction. Activelights 138 a may be implemented using a first subset of one or morecolors, with optional animation (e.g., light patterns of variableintensities of light or color that may change over time). Similarly,active lights 138 b may be implemented using a second subset of one ormore colors and light patterns that may be different than those ofactive lights 138 a. For example, active lights 138 a may be implementedusing white-colored lights as “headlights,” whereas active lights 138 bmay be implemented using red-colored lights as “taillights.” Activelights 138 a and 138 b, or portions thereof, may be configured toprovide other light-related functionalities, such as provide “turnsignal indication” functions (e.g., using yellow light). According tovarious examples, logic in autonomous vehicle 130 may be configured toadapt active lights 138 a and 138 b to comply with various safetyrequirements and traffic regulations or laws for any number ofjurisdictions.

In some embodiments, bidirectional autonomous vehicle 130 maybeconfigured to have similar structural elements and components in eachquad portion, such as quad portion 194. The quad portions are depicted,at least in this example, as portions of bidirectional autonomousvehicle 130 defined by the intersection of a plane 132 and a plane 134,both of which pass through the vehicle to form two similar halves oneach side of planes 132 and 134. Further, bidirectional autonomousvehicle 130 may include an autonomous vehicle controller 147 thatincludes logic (e.g., hardware or software, or as combination thereof)that is configured to control a predominate number of vehicle functions,including driving control (e.g., propulsion, steering, etc.) and activesources 136 of light, among other functions. Bidirectional autonomousvehicle 130 also includes a number of sensors 139 disposed at variouslocations on the vehicle (other sensors are not shown).

Autonomous vehicle controller 147 may be further configured to determinea local pose (e.g., local position) of an autonomous vehicle 109 and todetect external objects relative to the vehicle. For example, considerthat bidirectional autonomous vehicle 130 is traveling in the direction119 in road network 110. A localizer (not shown) of autonomous vehiclecontroller 147 can determine a local pose at the geographic location111. As such, the localizer may use acquired sensor data, such as sensordata associated with surfaces of buildings 115 and 117, which can becompared against reference data, such as map data (e.g., 3D map data,including reflectance data) to determine a local pose. Further, aperception engine (not shown) of autonomous vehicle controller 147 maybe configured to detect, classify, and predict the behavior of externalobjects, such as external object 112 (a “tree”) and external object 114(a “pedestrian”). Classification of such external objects may broadlyclassify objects 10 as static objects, such as external object 112, anddynamic objects, such as external object 114. The localizer and theperception engine, as well as other components of the AV controller 147,collaborate to cause autonomous vehicles 109 to drive autonomously.

According to some examples, autonomous vehicle service platform 101 isconfigured to provide teleoperator services should an autonomous vehicle109 request teleoperation. For example, consider that an autonomousvehicle controller 147 in autonomous vehicle 109 d detects an object 126obscuring a path 124 on roadway 122 at point 191, as depicted in inset120. If autonomous vehicle controller 147 cannot ascertain a path ortrajectory over which vehicle 109 d may safely transit with a relativelyhigh degree of certainty, then autonomous vehicle controller 147 maytransmit request message 105 for teleoperation services. In response, ateleoperator computing device 104 may receive instructions from ateleoperator 108 to perform a course of action to successfully (andsafely) negotiate obstacles 126. Response data 107 then can betransmitted back to autonomous vehicle 109 d to cause the vehicle to,for example, safely cross a set of double lines as it transits along thealternate path 121. In some examples, teleoperator computing device 104may generate a response identifying geographic areas to exclude fromplanning a path. In particular, rather than provide a path to follow, ateleoperator 108 may define areas or locations that the autonomousvehicle must avoid.

In view of the foregoing, the structures and/or functionalities ofautonomous vehicle 130 and/or autonomous vehicle controller 147, as wellas their components, can perform real-time (or near real-time)trajectory calculations through autonomous-related operations, such aslocalization and perception, to enable autonomous vehicles 109 toself-drive.

In some cases, the bidirectional nature of bidirectional autonomousvehicle 130 provides for a vehicle that has quad portions 194 (or anyother number of symmetric portions) that are similar or aresubstantially similar to each other. Such symmetry reduces complexity ofdesign and decreases relatively the number of unique components orstructures, thereby reducing inventory and manufacturing complexities.For example, a drivetrain and wheel system may be disposed in any of thequad portions 194. Further, autonomous vehicle controller 147 isconfigured to invoke teleoperation services to reduce the likelihoodthat an autonomous vehicle 109 is delayed in transit while resolving anevent or issue that may otherwise affect the safety of the occupants. Insome cases, the visible portion of road network 110 depicts a geo-fencedregion that may limit or otherwise control the movement of autonomousvehicles 109 to the road network shown in FIG. 1. According to variousexamples, autonomous vehicle 109, and a fleet thereof, may beconfigurable to operate as a level 4 (“full self-driving automation,” orL4) vehicle that can provide transportation on demand with theconvenience and privacy of point-to-point personal mobility whileproviding the efficiency of shared vehicles. In some examples,autonomous vehicle 109, or any autonomous vehicle described herein, maybe configured to omit a steering wheel or any other mechanical means ofproviding manual (i.e., human-controlled) steering for autonomousvehicle 109. Further, autonomous vehicle 109, or any autonomous vehicledescribed herein, may be configured to omit a seat or location reservedwithin the vehicle for an occupant to engage a steering wheel.

FIG. 2 is an example of a flow diagram to monitor a fleet of autonomousvehicles, according to some embodiments. At 202, flow 200 begins when afleet of autonomous vehicles are monitored. At least one autonomousvehicle includes an autonomous vehicle controller configured to causethe vehicle to autonomously transit from a first geographic region to asecond geographic region. At 204, data representing an event associatedwith a calculated confidence level for a vehicle is detected. An eventmay be a condition or situation affecting operation, or potentiallyaffecting operation, of an autonomous vehicle. The events may beinternal to an autonomous vehicle, or external. For example, an obstacleobscuring a roadway may be viewed as an event, as well as a reduction orloss of communication. An event may include traffic conditions orcongestion, as well as unexpected or unusual numbers or types ofexternal objects (or tracks) that are perceived by a perception engine.An event may include weather-related conditions (e.g., loss of frictiondue to ice or rain) or the angle at which the sun is shining (e.g., atsunset), such as low angle to the horizon that cause sun to shinebrightly in the eyes of human drivers of other vehicles. These and otherconditions may be viewed as events that cause invocation of theteleoperator service or for the vehicle to execute a safestoptrajectory.

At 206, data representing a subset of candidate trajectories may bereceived from an autonomous vehicle responsive to the detection of theevent. For example, a planner of an autonomous vehicle controller maycalculate and evaluate large numbers of trajectories (e.g., thousands orgreater) per unit time, such as a second. In some embodiments, candidatetrajectories are a subset of the trajectories that provide forrelatively higher confidence levels that an autonomous vehicle may moveforward safely in view of the event (e.g., using an alternate pathprovided by a teleoperator). Note that some candidate trajectories maybe ranked or associated with higher degrees of confidence than othercandidate trajectories. According to some examples, subsets of candidatetrajectories may originate from any number of sources, such as aplanner, a teleoperator computing device (e.g., teleoperators candetermine and provide approximate paths), etc., and may be combined as asuperset of candidate trajectories. At 208, path guidance data may beidentified at one or more processors. The path guidance data may beconfigured to assist a teleoperator in selecting a guided trajectoryfrom one or more of the candidate trajectories. In some instances, thepath guidance data specifies a value indicative of a confidence level orprobability that indicates the degree of certainty that a particularcandidate trajectory may reduce or negate the probability that the eventmay impact operation of an autonomous vehicle. A guided trajectory, as aselected candidate trajectory, may be received at 210, responsive toinput from a teleoperator (e.g., a teleoperator may select at least onecandidate trajectory as a guided trajectory from a group ofdifferently-ranked candidate trajectories). The selection may be madevia an operator interface that lists a number of candidate trajectories,for example, in order from highest confidence levels to lowestconfidence levels. At 212, the selection of a candidate trajectory as aguided trajectory may be transmitted to the vehicle, which, in turn,implements the guided trajectory for resolving the condition by causingthe vehicle to perform a teleoperator-specified maneuver. As such, theautonomous vehicle may transition from a non-normative operationalstate.

FIG. 3A is a diagram depicting examples of sensors and other autonomousvehicle components, according to some examples. Diagram 300 depicts aninterior view of a bidirectional autonomous vehicle 330 that includessensors, signal routers 345, drive trains 349, removable batteries 343,audio generators 344 (e.g., speakers or transducers), and autonomousvehicle (“AV”) control logic 347. Sensors shown in diagram 300 includeimage capture sensors 340 (e.g., light capture devices or cameras of anytype), audio capture sensors 342 (e.g., microphones of any type), radardevices 348, sonar devices 341 (or other like sensors, includingultrasonic sensors or acoustic-related sensors), and Lidar devices 346,among other sensor types and modalities (some of which are not shown,such inertial measurement units, or “IMUs,” global positioning system(“GPS”) sensors, sonar sensors, etc.). Note that quad portion 350 isrepresentative of the symmetry of each of four “quad portions” ofbidirectional autonomous vehicle 330 (e.g., each quad portion 350 mayinclude a wheel, a drivetrain 349, similar steering mechanisms, similarstructural support and members, etc. beyond that which is depicted). Asdepicted in FIG. 3A, similar sensors may be placed in similar locationsin each quad portion 350, however any other configuration mayimplemented. Each wheel may be steerable individually and independent ofthe others. Note, too, that removable batteries 343 may be configured tofacilitate being swapped in and swapped out rather than charging insitu, thereby ensuring reduced or negligible downtimes due to thenecessity of charging batteries 343. While autonomous vehicle controller347 a is depicted as being used in a bidirectional autonomous vehicle330, autonomous vehicle controller 347 a is not so limited and may beimplemented in unidirectional autonomous vehicles or any other type ofvehicle, whether on land, in air, or at sea. Note that the depicted anddescribed positions, locations, orientations, quantities, and types ofsensors shown in FIG. 3A are not intended to be limiting, and, as such,there may be any number and type of sensor, and any sensor may belocated and oriented anywhere on autonomous vehicle 330.

According to some embodiments, portions of the autonomous vehicle (“AV”)control logic 347 may be implemented using clusters of graphicsprocessing units (“GPUs”) implementing a framework and programming modelsuitable for programming the clusters of GPUs. For example, a computeunified device architecture (“CUDA” I-compatible programming languageand application programming interface (“API”) model may be used toprogram the GPUs. CUDA™ is produced and maintained by NVIDIA of SantaClara, Calif. Note that other programming languages may be implemented,such as OpenCL, or any other parallel programming language.

According to some embodiments, autonomous vehicle control logic 347 maybe implemented in hardware and/or software as autonomous vehiclecontroller 347 a, which is shown to include a motion controller 362, aplanner 364, a perception engine 366, and a localizer 368. As shown,autonomous vehicle controller 347 a is configured to receive camera data340 a, Lidar data 346 a, and radar data 348 a, or any otherrange-sensing or localization data, including sonar data 341 a or thelike. Autonomous vehicle controller 347 a is also configured to receivepositioning data, such as GPS data 352, IMU data 354, and otherposition-sensing data (e.g., wheel-related data, such as steeringangles, angular velocity, etc.). Further, autonomous vehicle controller347 a may receive any other sensor data 356, as well as reference data339. In some cases, reference data 339 includes map data (e.g., 3D mapdata, 20 map data, 40 map data (e.g., including Epoch Determination))and route data (e.g., road network data, including, but not limited to,RNDF data (or similar data), MDF data (or similar data), etc.

Localizer 368 is configured to receive sensor data from one or moresources, such as GPS data 352, wheel data, IMU data 354, Lidar data 346a, camera data 340 a, radar data 348 a, and the like, as well asreference data 339 (e.g., 3D map data and route data). Localizer 368integrates (e.g., fuses the sensor data) and analyzes the data bycomparing sensor data to map data to determine a local pose (orposition) of bidirectional autonomous vehicle 330. According to someexamples, localizer 368 may generate or update the pose or position ofany autonomous vehicle in real-time or near real-time. Note thatlocalizer 368 and its functionality need not be limited to“bi-directional” vehicles and can be implemented in any vehicle of anytype. Therefore, localizer 368 (as well as other components of AVcontroller 347 a) may be implemented in a “unidirectional” vehicle orany non-autonomous vehicle. According to some embodiments, datadescribing a local pose may include one or more of an x-coordinate, ay-coordinate, a z-coordinate (or any coordinate of any coordinatesystem, including polar or cylindrical coordinate systems, or the like),a yaw value, a roll value, a pitch value (e.g., an angle value), a rate(e.g., velocity), altitude, and the like.

Perception engine 366 is configured to receive sensor data from one ormore sources, such as Lidar data 346 a, camera data 340 a, radar data348 a, and the like, as well as local pose data. Perception engine 366may be configured to determine locations of external objects based onsensor data and other data. External objects, for instance, may beobjects that are not part of a drivable surface. For example, perceptionengine 366 may be able to detect and classify external objects aspedestrians, bicyclists, dogs, other vehicles, etc. (e.g., perceptionengine 366 is configured to classify the objects in accordance with atype of classification, which may be associated with semanticinformation, including a label). Based on the classification of theseexternal objects, the external objects may be labeled as dynamic objectsor static objects. For example, an external object classified as a treemay be labeled as a static object, while an external object classifiedas a pedestrian may be labeled as a static object. External objectslabeled as static mayor may not be described in map data. Examples ofexternal objects likely to be labeled as static include traffic cones,cement barriers arranged across a roadway, lane closure signs,newly-placed mailboxes or trash cans adjacent a roadway, etc. Examplesof external objects likely to be labeled as dynamic include bicyclists,pedestrians, animals, other vehicles, etc. If the external object islabeled as dynamic, and further data about the external object mayindicate a typical level of activity and velocity, as well as behaviorpatterns associated with the classification type. Further data about theexternal object may be generated by tracking the external object. Assuch, the classification type can be used to predict or otherwisedetermine the likelihood that an external object may, for example,interfere with an autonomous vehicle traveling along a planned path. Forexample, an external object that is classified as a pedestrian may beassociated with some maximum speed, as well as an average speed (e.g.,based on tracking data). The velocity of the pedestrian relative to thevelocity of an autonomous vehicle can be used to determine if acollision is likely. Further, perception engine 364 may determine alevel of uncertainty associated with a current and future state ofobjects. In some examples, the level of uncertainty may be expressed asan estimated value (or probability).

Planner 364 is configured to receive perception data from perceptionengine 366, and may also include localizer data from localizer 368.According to some examples, the perception data may include an obstaclemap specifying static and dynamic objects located in the vicinity of anautonomous vehicle, whereas the localizer data may include a local poseor position. In operation, planner 364 generates numerous trajectories,and evaluates the trajectories, based on at least the location of theautonomous vehicle against relative locations of external dynamic andstatic objects. Planner 364 selects an optimal trajectory based on avariety of criteria over which to direct the autonomous vehicle in waythat provides for collision-free travel. In some examples, planner 364may be configured to calculate the trajectories asprobabilistically-determined trajectories. Further, planner 364 maytransmit steering and propulsion commands (as well as decelerating orbraking commands) to motion controller 362. Motion controller 362subsequently may convert any of the commands, such as a steeringcommand, a throttle or propulsion command, and a braking command, intocontrol signals (e.g., for application to actuators or other mechanicalinterfaces) to implement changes in steering or wheel angles 351 and/orvelocity 353.

FIGS. 3B to 3E are diagrams depicting examples of sensor fieldredundancy and autonomous vehicle adaption to a loss of a sensor field,according to some examples. Diagram 391 of FIG. 3B depicts a sensorfield 301 a in which sensor 310 a detects objects (e.g., for determiningrange or distance, or other information). While sensor 310 a mayimplement any type of sensor or sensor modality, sensor 310 a andsimilarly-described sensors, such as sensors 310 b, 310 c, and 310 d,may include Lidar devices. Therefore, sensor 5 fields 301 a, 301 b, 301c, and 301 d each includes a field into which lasers extend. Diagram 392of FIG. 3C depicts four overlapping sensor fields each of which isgenerated by a corresponding Lidar sensor 310 (not shown). As shown,portions 301 of the sensor fields include no overlapping sensor fields(e.g., a single Lidar field), portions 302 of the sensor fields includetwo overlapping sensor fields, and portions 303 include threeoverlapping sensor fields, whereby such sensors provide for multiplelevels of redundancy should a Lidar sensor fail.

FIG. 3D depicts a loss of a sensor field due to failed operation ofLidar 309, according to some examples. Sensor field 302 of FIG. 3C istransformed into a single sensor field 305, one of sensor fields 301 ofFIG. 3C is lost to a gap 304, and three of sensor fields 303 of FIG. 3Care transformed into sensor fields 306 (i.e., limited to two overlappingfields). Should autonomous car 330 c be traveling in the direction oftravel 396, the sensor field in front of the moving autonomous vehiclemay be less robust than the one at the trailing end portion. Accordingto some examples, an autonomous vehicle controller (not shown) isconfigured to leverage the bidirectional nature of autonomous vehicle330 c to address the loss of sensor field at the leading area in frontof the vehicle. FIG. 3E depicts a bidirectional maneuver for restoring acertain robustness of the sensor field in front of autonomous vehicle330 d. As shown, a more robust sensor field 302 is disposed at the rearof the vehicle 330 d coextensive with taillights 348. When convenient,autonomous vehicle 330 d performs a bidirectional maneuver by pullinginto a driveway 397 and switches its directionality such that taillights348 actively switch to the other side (e.g., the trailing edge) ofautonomous vehicle 330 d. As shown, autonomous vehicle 330 d restores arobust sensor field 302 in front of the vehicle as it travels alongdirection of travel 398. Further, the above-described bidirectionalmaneuver obviates a requirement for a more complicated maneuver thatrequires backing up into a busy roadway.

FIG. 4 is a functional block diagram depicting a system including anautonomous vehicle service platform that is communicatively coupled viaa communication layer to an autonomous vehicle controller, according tosome examples. Diagram 400 depicts an autonomous vehicle controller(“AV”) 447 disposed in an autonomous vehicle 430, which, in turn,includes a number of sensors 470 coupled to autonomous vehiclecontroller 447. Sensors 470 include one or more Lidar devices 472, oneor more cameras 474, one or more radars 476, one or more globalpositioning system (“GPS”) data receiver-sensors, one or more inertialmeasurement units (“IMUs”) 475, one or more odometry sensors 477 (e.g.,wheel encoder sensors, wheel speed sensors, and the like), and any othersuitable sensors 478, such as infrared cameras or sensors,hyperspectral-capable sensors, ultrasonic sensors (or any other acousticenergy-based sensor), radio frequency-based sensors, etc. In some cases,wheel angle sensors configured to sense steering angles of wheels may beincluded as odometry sensors 477 or suitable sensors 478. In anon-limiting example, autonomous vehicle controller 447 may include fouror more Lidars 472, sixteen or more cameras 474 and four or more radarunits 476. Further, sensors 470 may be configured to provide sensor datato components of autonomous vehicle controller 447 and to elements ofautonomous vehicle service platform 401. As shown in diagram 400,autonomous vehicle controller 447 includes a planner 464, a motioncontroller 462, a localizer 468, a perception engine 466, and a localmap generator 440. Note that elements depicted in diagram 400 of FIG. 4may include structures and/or functions as similarly-named elementsdescribed in connection to one or more other drawings.

Localizer 468 is configured to localize autonomous vehicle (i.e.,determine a local pose) relative to reference data, which may includemap data, route data (e.g., road network data, such as RNOF-like data),and the like. In some cases, localizer 468 is configured to identify,for example, a point in space that may represent a location ofautonomous vehicle 430 relative to features of a representation of anenvironment. Localizer 468 is shown to include a sensor data integrator469, which may be configured to integrate multiple subsets of sensordata (e.g., of different sensor modalities) to reduce uncertaintiesrelated to each individual type of sensor. According to some examples,sensor data integrator 469 is configured to fuse sensor data (e.g.,Lidar data, camera data, radar data, etc.) to form integrated sensordata values for determining a local pose. According to some examples,localizer 468 retrieves reference data originating from a reference datarepository 405, which includes a map data repository 405 a for storing20 map data, 3D map data, 4D map data, and the like. Localizer 468 maybe configured to identify at least a subset of features in theenvironment to match against map data to identify, or otherwise confirm,a pose of autonomous vehicle 430. According to some examples, localizer468 may be configured to identify any amount of features in anenvironment, such that a set of features can one or more features, orall features. In a specific example, any amount of Lidar data (e.g.,most or substantially all Lidar data) maybe compared against datarepresenting a map for purposes of localization. Generally, non-matchedobjects resulting from the comparison of the environment features andmap data may be a dynamic object, such as a vehicle, bicyclist,pedestrian, etc. Note that detection of dynamic objects, includingobstacles, may be performed with or without map data. In particular,dynamic objects may be detected and tracked independently of map data(i.e., in the absence of map data). In some instances, 20 map data and3D map data may be viewed as “global map data” or map data that has beenvalidated at a point in time by autonomous vehicle service platform 401.As map data in map data repository 405 a may be updated and/or validatedperiodically, a deviation may exist between the map data and an actualenvironment in which the autonomous vehicle is positioned. Therefore,localizer 468 may retrieve locally-derived map data generated by localmap generator 440 to enhance localization. Local map generator 440 isconfigured to generate local map data in real-time or near real-time.Optionally, local map generator 440 may receive static and dynamicobject map data to enhance the accuracy of locally generated maps by,for example, disregarding dynamic objects in localization. According toat least some embodiments, local map generator 440 may be integratedwith, or formed as part of, localizer 468. In at least one case, localmap generator 440, either individually or in collaboration withlocalizer 468, may be configured to generate map and/or reference databased on simultaneous localization and mapping (“SLAM”) or the like.Note that localizer 468 may implement a “hybrid” approach to using mapdata, whereby logic in localizer 468 may be configured to select variousamounts of map data from either map data repository 405 a or local mapdata from local map generator 440, depending on the degrees ofreliability of each source of map data. Therefore, localizer 468 maystill use out-of-date map data in view of locally-generated map data.

Perception engine 466 is configured to, for example, assist planner 464in planning routes and generating trajectories by identifying objects ofinterest in a surrounding environment in which autonomous vehicle 430 istransiting. Further, probabilities may be associated with each of theobject of interest, whereby a probability may represent a likelihoodthat an object of interest may be a threat to safe travel (e.g., afast-moving motorcycle may require enhanced tracking rather than aperson sitting at a bus stop bench while reading a newspaper). As shown,perception engine 466 includes an object detector 442 and an objectclassifier 444. Object detector 442 is configured to distinguish objectsrelative to other features in the environment, and object classifier 444may be configured to classify objects as either dynamic or staticobjects and track the locations of the dynamic and the static objectsrelative to autonomous vehicle 430 for planning purposes. Further,perception engine 466 may be configured to assign an identifier to astatic or dynamic object that specifies whether the object is (or hasthe potential to become) an obstacle that may impact path planning atplanner 464. Although not shown in FIG. 4, note that perception engine466 may also perform other perception-related functions, such assegmentation and tracking, examples of which are described below.

Planner 464 is configured to generate a number of candidate trajectoriesfor accomplishing a goal to reaching a destination via a number of pathsor routes that are available. Trajectory evaluator 465 is configured toevaluate candidate trajectories and identify which subsets of candidatetrajectories are associated with higher degrees of confidence levels ofproviding collision-free paths to the destination. As such, trajectoryevaluator 465 can select an optimal trajectory based on relevantcriteria for causing commands to generate control signals for vehiclecomponents 450 (e.g., actuators or other mechanisms). Note that therelevant criteria may include any number of factors that define optimaltrajectories, the selection of which need not be limited to reducingcollisions. For example, the selection of trajectories may be made tooptimize user experience (e.g., user comfort) as well as collision-freetrajectories that comply with traffic regulations and laws. Userexperience may be optimized by moderating accelerations in variouslinear and angular directions (e.g., to reduce jerking-like travel orother unpleasant motion). In some cases, at least a portion of therelevant criteria can specify which of the other criteria to override orsupersede, while maintain optimized, collision-free travel. For example,legal restrictions may be temporarily lifted or deemphasized whengenerating trajectories in limited situations (e.g., crossing doubleyellow lines to go around a cyclist or travelling at higher speeds thanthe posted speed limit to match traffic flows). As such, the controlsignals are configured to cause propulsion and directional changes atthe drivetrain and/or wheels. In this example, motion controller 462 isconfigured to transform commands into control signals (e.g., velocity,wheel angles, etc.) for controlling the mobility of autonomous vehicle430. In the event that trajectory evaluator 465 has insufficientinformation to ensure a confidence level high enough to providecollision-free, optimized travel, planner 464 can generate a request toteleoperator 404 for teleoperator support.

Autonomous vehicle service platform 401 includes teleoperator 5 404(e.g., a teleoperator computing device), reference data repository 405,a map updater 406, a vehicle data controller 408, a calibrator 409, andan off-line object classifier 410. Note that each element of autonomousvehicle service platform 401 may be independently located or distributedand in communication with other elements in autonomous vehicle serviceplatform 401. Further, element of autonomous vehicle service platform401 may independently communicate with the autonomous vehicle 430 viathe communication layer 402. Map updater 406 is configured to receivemap data (e.g., from local map generator 440, sensors 460, or any othercomponent of autonomous vehicle controller 447), and is furtherconfigured to detect deviations, for example, of map data in map datarepository 405 a from a locally-generated map. Vehicle data controller408 can cause map updater 406 to update reference data within repository405 and facilitate updates to 2D, 3D, and/or 4D map data. In some cases,vehicle data controller 408 can control the rate at which local map datais received into autonomous vehicle service platform 408 as well as thefrequency at which map updater 406 performs updating of the map data.

Calibrator 409 is configured to perform calibration of various sensorsof the same or different types. Calibrator 409 may be configured todetermine the relative poses of the sensors (e.g., in Cartesian space(x, y, z)) and orientations of the sensors (e.g., roll, pitch and yaw).The pose and orientation of a sensor, such a camera, Lidar sensor, radarsensor, etc., may be calibrated relative to other sensors, as well asglobally relative to the vehicle's reference frame. Off-lineself-calibration can also calibrate or estimate other parameters, suchas vehicle inertial tensor, wheel base, wheel radius or surface roadfriction. Calibration can also be done online to detect parameterchange, according to some examples. Note, too, that calibration bycalibrator 409 may include intrinsic parameters of the sensors (e.g.,optical distortion, beam angles, etc.) and extrinsic parameters. In somecases, calibrator 409 may be performed by maximizing a correlationbetween depth discontinuities in 3D laser data and edges of image data,as an example. Off-line object classification 410 is configured toreceive data, such as sensor data, from sensors 470 or any othercomponent of autonomous vehicle controller 447. According to someembodiments, an off-line classification pipeline of off-line objectclassification 410 may be configured to pre-collect and annotate objects(e.g., manually by a human and/or automatically using an offlinelabeling algorithm), and may further be configured to train an onlineclassifier (e.g., object classifier 444), which can provide real-timeclassification of object types during online autonomous operation.

FIG. 5 is an example of a flow diagram to control an autonomous vehicle,according to some embodiments. At 502, flow 500 begins when sensor dataoriginating from sensors of multiple modalities at an autonomous vehicleis received, for example, by an autonomous vehicle controller. One ormore subsets of sensor data may be integrated for generating fused datato improve, for example, estimates. In some examples, a sensor stream ofone or more sensors (e.g., of same or different modalities) may be fusedto form fused sensor data at 504. In some examples, subsets of Lidarsensor data and camera sensor data may be fused at 504 to facilitatelocalization. At 506, data representing objects based on the least twosubsets of sensor data may be derived at a processor. For example, dataidentifying static objects or dynamic objects may be derived (e.g., at aperception engine) from at least Lidar and camera data. At 508, adetected object is determined to affect a planned path, and a subset oftrajectories are evaluated (e.g., at a planner) responsive to thedetected object at 510. A confidence level is determined at 512 toexceed a range of acceptable confidence levels associated with normativeoperation of an autonomous vehicle. Therefore, in this case, aconfidence level may be such that a certainty of selecting an optimizedpath is less likely, whereby an optimized path may be determined as afunction of the probability of facilitating collision-free travel,complying with traffic laws, providing a comfortable user experience(e.g., comfortable ride), and/or generating candidate trajectories onany other factor. As such, a request for an alternate path may betransmitted to a teleoperator computing device at 514. Thereafter, theteleoperator computing device may provide a planner with an optimaltrajectory over which an autonomous vehicle made travel. In situations,the vehicle may also determine that executing a safe-stop maneuver isthe best course of action (e.g., safely and automatically causing anautonomous vehicle to a stop at a location of relatively lowprobabilities of danger). Note that the order depicted in this and otherflow charts herein are not intended to imply a requirement to linearlyperform various functions as each portion of a flow chart may beperformed serially or in parallel with anyone or more other portions ofthe flow chart, as well as independent or dependent on other portions ofthe flow chart.

FIG. 6 is a diagram depicting an example of an architecture for anautonomous vehicle controller, according to some embodiments. Diagram600 depicts a number of processes including a motion controller process662, a planner processor 664, a perception process 666, a mappingprocess 640, and a localization process 668, some of which may generateor receive data relative to other processes. Other processes, such assuch as processes 670 and 650 may facilitate interactions with one ormore mechanical components of an autonomous vehicle. For example,perception process 666, mapping process 640, and localization process668 are configured to receive sensor data from sensors 670, whereasplanner process 664 and perception process 666 are configured to receiveguidance data 606, which may include route data, such as road networkdata. Further to diagram 600, localization process 668 is configured toreceive map data 605 a (i.e., 20 map data), map data 605 b (i.e., 3D mapdata), and local map data 642, among other types of map data. Forexample, localization process 668 may also receive other forms of mapdata, such as 40 map data, which may include, for example, an epochdetermination. Localization process 668 is configured to generate localposition data 641 representing a local pose. Local position data 641 isprovided to motion controller process 662, planner process 664, andperception process 666. Perception process 666 is configured to generatestatic and dynamic object map data 667, which, in turn, may betransmitted to planner process 664. In some examples, static and dynamicobject map data 667 may be transmitted with other data, such as semanticclassification information and predicted object behavior. Plannerprocess 664 is configured to generate trajectories data 665, whichdescribes a number of trajectories generated by planner 664. Motioncontroller process uses trajectories data 665 to generate low-levelcommands or control signals for application to actuators 650 to causechanges in steering angles and/or velocity.

FIG. 7 is a diagram depicting an example of an autonomous vehicleservice platform implementing redundant communication channels tomaintain reliable communications with a fleet of autonomous vehicles,according to some embodiments. Diagram 700 depicts an autonomous vehicleservice platform 701 including a reference data generator 705, a vehicledata controller 702, an autonomous vehicle fleet manager 703, ateleoperator manager 707, a simulator 740, and a policy manager 742.Reference data generator 705 is configured to generate and modify mapdata and route data (e.g., RNDF data). Further, reference data generator705 may be configured to access 2D maps in 2D map data repository 720,access 3D maps in 3D map data repository 722, and access route data inroute data repository 724. Other map representation data andrepositories may be implemented in some examples, such as 40 map dataincluding Epoch Determination. Vehicle data controller 702 may beconfigured to perform a variety of operations. For example, vehicle datacontroller 702 may be configured to change a rate that data is exchangedbetween a fleet of autonomous vehicles and platform 701 based on qualitylevels of communication over channels 770. During bandwidth-constrainedperiods, for example, data communications may be prioritized such thatteleoperation requests from autonomous vehicle 730 are prioritizedhighly to ensure delivery. Further, variable levels of data abstractionmay be transmitted per vehicle over channels 770, depending on bandwidthavailable for a particular channel. For example, in the presence of arobust network connection, full Lidar data (e.g., substantially allLidar data, but also may be less) may be transmitted, whereas in thepresence of a degraded or low-speed connection, simpler or more abstractdepictions of the data may be transmitted (e.g., bounding boxes withassociated metadata, etc.). Autonomous vehicle fleet manager 703 isconfigured to coordinate the dispatching of autonomous vehicles 730 tooptimize multiple variables, including an efficient use of batterypower, times of travel, whether or not an air-conditioning unit in anautonomous vehicle 730 may be used during low charge states of abattery, etc., any or all of which may be monitored in view ofoptimizing cost functions associated with operating an autonomousvehicle service. An algorithm may be implemented to analyze a variety ofvariables with which to minimize costs or times of travel for a fleet ofautonomous vehicles. Further, autonomous vehicle fleet manager 703maintains an inventory of autonomous vehicles as well as parts foraccommodating a service schedule in view of maximizing up-time of thefleet.

Teleoperator manager 707 is configured to manage a number ofteleoperator computing devices 704 with which teleoperators 708 provideinput. Simulator 740 is configured to simulate operation of one or moreautonomous vehicles 730, as well as the interactions betweenteleoperator manager 707 and an autonomous vehicle 730. Simulator 740may also simulate operation of a number of sensors (including theintroduction of simulated noise) disposed in autonomous vehicle 730.Further, an environment, such as a city, may be simulated such that asimulated autonomous vehicle can be introduced to the syntheticenvironment, whereby simulated sensors may receive simulated sensordata, such as simulated laser returns. Simulator 740 may provide otherfunctions as well, including validating software updates and/or mapdata. Policy manager 742 is configured to maintain data representingpolicies or rules by which an autonomous vehicle ought to behave in viewof a variety of conditions or events that an autonomous vehicleencounters while traveling in a network of roadways. In some cases,updated policies and/or rules may be simulated in simulator 740 toconfirm safe operation of a fleet of autonomous vehicles in view ofchanges to a policy. Some of the above-described elements of autonomousvehicle service platform 701 are further described hereinafter.

Communication channels 770 are configured to provide networkedcommunication links among a fleet of autonomous vehicles 730 andautonomous vehicle service platform 701. For example, communicationchannel 770 includes a number of different types of networks 771, 772,773, and 774, with corresponding subnetworks (e.g., 771 a to 771 n), toensure a certain level of redundancy for operating an autonomous vehicleservice reliably. For example, the different types of networks incommunication channels 770 may include different cellular networkproviders, different types of data networks, etc., to ensure sufficientbandwidth in the event of reduced or lost communications due to outagesin one or more networks 771, 772, 773, and 774.

FIG. 8 is a diagram depicting an example of a messaging applicationconfigured to exchange data among various applications, according tosome embodiments. Diagram 800 depicts an teleoperator application 801disposed in a teleoperator manager, and an autonomous vehicleapplication 830 disposed in an autonomous vehicle, whereby teleoperatorapplications 801 and autonomous vehicle application 830 exchange messagedata via a protocol that facilitates communications over a variety ofnetworks, such as network 871, 872, and other networks 873. According tosome examples, the communication protocol is a middleware protocolimplemented as a Data Distribution Service™ having a specificationmaintained by the Object Management Group consortium. In accordance withthe communications protocol, teleoperator application 801 and autonomousvehicle application 830 may include a message router 854 disposed in amessage domain, the message router being configured to interface withthe teleoperator API 852. In some examples, message router 854 is arouting service. In some examples, message domain 850 a in teleoperatorapplication 801 may be identified by a teleoperator identifier, whereasmessage domain 850 b be may be identified as a domain associated with avehicle identifier. Teleoperator API 852 in teleoperator application 801is configured to interface with teleoperator processes 803 a to 803 c,whereby teleoperator process 803 b is associated with an autonomousvehicle identifier 804, and teleoperator process 803 c is associatedwith an event identifier 806 (e.g., an identifier that specifies anintersection that may be problematic for collision-free path planning)Teleoperator API 852 in autonomous vehicle application 830 is configuredto interface with an autonomous vehicle operating system 840, whichincludes sensing application 842, a perception application 844, alocalization application 846, and a control application 848. In view ofthe foregoing, the above-described communications protocol mayfacilitate data exchanges to facilitate teleoperations as describedherein. Further, the above-described communications protocol may beadapted to provide secure data exchanges among one or more autonomousvehicles and one or more autonomous vehicle service platforms. Forexample, message routers 854 may be configured to encrypt and decryptmessages to provide for secured interactions between, for example, ateleoperator process 803 and an autonomous vehicle operation system 840.

FIG. 9 is a diagram depicting types of data for facilitatingteleoperations using a communications protocol described in FIG. 8,according to some examples. Diagram 900 depicts a teleoperator 908interfacing with a teleoperator computing device 904 coupled to ateleoperator application 901, which is configured to exchange data via adata-centric messaging bus 972 implemented in one or more networks 971.Data-centric messaging bus 972 provides a communication link betweenteleoperator application 901 and autonomous vehicle application 930.Teleoperator API 962 of teleoperator application 901 is configured toreceive message service configuration data 964 and route data 960, suchas road network data (e.g., RNDF-like data), mission data (e.g.,MDF-data), and the like. Similarly, a messaging service bridge 932 isalso configured to receive messaging service configuration data 934.Messaging service configuration data 934 and 964 provide configurationdata to configure the messaging service between teleoperator application901 and autonomous vehicle application 930. An example of messagingservice configuration data 934 and 964 includes quality of service(“OoS”) configuration data implemented to configure a Data DistributionService™ application.

An example of a data exchange for facilitating teleoperations via thecommunications protocol is described as follows. Consider that obstacledata 920 is generated by a perception system of an autonomous vehiclecontroller. Further, planner options data 924 is generated by a plannerto notify a teleoperator of a subset of candidate trajectories, andposition data 926 is generated by the localizer. Obstacle data 920,planner options data 924, and position data 926 are transmitted to amessaging service bridge 932, which, in accordance with message serviceconfiguration data 934, generates telemetry data 940 and query data 942,both of which are transmitted via data-centric messaging bus 972 intoteleoperator application 901 as telemetry data 950 and query data 952.Teleoperator API 962 receives telemetry data 950 and inquiry data 952,which, in turn are processed in view of Route data 960 and messageservice configuration data 964. The resultant data is subsequentlypresented to a teleoperator 908 via teleoperator computing device 904and/or a collaborative display (e.g., a dashboard display visible to agroup of collaborating teleoperators 908). Teleoperator 908 reviews thecandidate trajectory options that are presented on the display ofteleoperator computing device 904, and selects a guided trajectory,which generates command data 982 and query response data 980, both ofwhich are passed through teleoperator API 962 as query response data 954and command data 956. In turn, query response data 954 and command data956 are transmitted via data-centric messaging bus 972 into autonomousvehicle application 930 as query response data 944 and command data 946.Messaging service bridge 932 receives query response data 944 andcommand data 946 and generates teleoperator command data 928, which isconfigured to generate a teleoperator-selected trajectory forimplementation by a planner. Note that the above-described messagingprocesses are not intended to be limiting, and other messaging protocolsmay be implemented as well.

FIG. 10 is a diagram illustrating an example of a teleoperator interfacewith which a teleoperator may influence path planning, according to someembodiments. Diagram 1000 depicts examples of an autonomous vehicle 1030in communication with an autonomous vehicle service platform 1001, whichincludes a teleoperator manager 1007 configured to facilitateteleoperations. In a first example, teleoperator manager 1007 receivesdata that requires teleoperator 1008 to preemptively view a path of anautonomous vehicle approaching a potential obstacle or an area of lowplanner confidence levels so that teleoperator 1008 may be able toaddress an issue in advance. To illustrate, consider that anintersection that an autonomous vehicle is approaching may be tagged asbeing problematic. As such, user interface 1010 displays arepresentation 1014 of a corresponding autonomous vehicle 1030transiting along a path 1012, which has been predicted by a number oftrajectories generated by a planner. Also displayed are other vehicles1011 and dynamic objects 1013, such as pedestrians, that may causesufficient confusion at the planner, thereby requiring teleoperationsupport. User interface 1010 also presents to teleoperator 1008 acurrent velocity 1022, a speed limit 1024, and an amount of charge 1026presently in the batteries. According to some examples, user interface1010 may display other data, such as sensor data as acquired fromautonomous vehicle 1030. In a second example, consider that planner 1064has generated a number of trajectories that are coextensive with aplanner-generated path 1044 regardless of a detected unidentified object1046. Planner 1064 may also generate a subset of candidate trajectories1040, but in this example, the planner is unable to proceed givenpresent confidence levels. If planner 1064 fails to determine analternative path, a teleoperation request may be transmitted. In thiscase, a teleoperator may select one of candidate trajectories 1040 tofacilitate travel by autonomous vehicle 1030 that is consistent withteleoperator-based path 1042.

FIG. 11 is a diagram depicting an example of a planner configured toinvoke teleoperations, according to some examples. Diagram 1100 depictsa planner 1164 including a topography manager 1110, a route manager1112, a path generator 1114, a trajectory evaluator 1120, and atrajectory tracker 1128. Topography manager 1110 is configured toreceive map data, such as 3D map data or other like map data thatspecifies topographic features. Topography manager 1110 is furtherconfigured to identify candidate paths based on topographic-relatedfeatures on a path to a destination. According to various examples,topography manager 1110 receives 3D maps generated by sensors associatedwith one or more autonomous vehicles in the fleet. Route manager 1112 isconfigured to receive environmental data 1103, which may includetraffic-related information associated with one or more routes that maybe selected as a path to the destination. Path generator 1114 receivesdata from topography manager 1110 and route manager 1112, and generatesone or more paths or path segments suitable to direct autonomous vehicletoward a destination. Data representing one or more paths or pathsegments is transmitted into trajectory evaluator 1120.

Trajectory evaluator 1120 includes a state and event manager 1122,which, in turn, may include a confidence level generator 1123.Trajectory evaluator 1120 further includes a guided trajectory generator1126 and a trajectory generator 1124. Further, planner 1164 isconfigured to receive policy data 1130, perception engine data 1132, andlocalizer data 1134.

Policy data 1130 may include criteria with which planner 1164 uses todetermine a path that has a sufficient confidence level with which togenerate trajectories, according to some examples. Examples of policydata 1130 include policies that specify that trajectory generation isbounded by stand-off distances to external objects (e.g., maintaining asafety buffer of 3 feet from a cyclist, as possible), or policies thatrequire that trajectories must not cross a center double yellow line, orpolicies that require trajectories to be limited to a single lane in a4-lane roadway (e.g., based on past events, such as typicallycongregating at a lane closest to a bus stop), and any other similarcriteria specified by policies. Perception engine data 1132 includesmaps of locations of static objects and dynamic objects of interest, andlocalizer data 1134 includes at least a local pose or position.

State and event manager 1122 may be configured to probabilisticallydetermine a state of operation for an autonomous vehicle. For example, afirst state of operation (i.e., “normative operation”) may describe asituation in which trajectories are collision-free, whereas a secondstate of operation (i.e., “non-normative operation”) may describeanother situation in which the confidence level associated with possibletrajectories are insufficient to guarantee collision-free travel.According to some examples, state and event manager 1122 is configuredto use perception data 1132 to determine a state of autonomous vehiclethat is either normative or non-normative. Confidence level generator1123 may be configured to analyze perception data 1132 to determine astate for the autonomous vehicle. For example, confidence levelgenerator 1123 may use semantic information associated with static anddynamic objects, as well as associated probabilistic estimations, toenhance a degree of certainty that planner 1164 is determining safecourse of action. For example, planner 1164 may use perception enginedata 1132 that specifies a probability that an object is either a personor not a person to determine whether planner 1164 is operating safely(e.g., planner 1164 may receive a degree of certainty that an object hasa 98% probability of being a person, and a probability of 2% that theobject is not a person).

Upon determining a confidence level (e.g., based on statistics andprobabilistic determinations) is below a threshold required forpredicted safe operation, a relatively low confidence level (e.g.,single probability score) may trigger planner 1164 to transmit a request1135 for teleoperation support to autonomous vehicle service platform1101. In some cases, telemetry data and a set of candidate trajectoriesmay accompany the request. Examples of telemetry data include sensordata, localization data, perception data, and the like. A teleoperator1108 may transmit via teleoperator computing device 1104 a selectedtrajectory 1137 to guided trajectory generator 1126. As such, selectedtrajectory 1137 is a trajectory formed with guidance from ateleoperator. Upon confirming there is no change in the state (e.g., anon-normative state is pending), guided trajectory generator 1126 passesdata to trajectory generator 1124, which, in turn, causes trajectorytracker 1128, as a trajectory tracking controller, to use theteleop-specified trajectory for generating control signals 1170 (e.g.,steering angles, velocity, etc.). Note that planner 1164 may triggertransmission of a request 1135 for teleoperation support prior to astate transitioning to a non-normative state. In particular, anautonomous vehicle controller and/or its components can predict that adistant obstacle may be problematic and preemptively cause planner 1164to invoke teleoperations prior to the autonomous vehicle reaching theobstacle. Otherwise, the autonomous vehicle may cause a delay bytransitioning to a safe state upon encountering the obstacle or scenario(e.g., pulling over and off the roadway). In another example,teleoperations may be automatically invoked prior to an autonomousvehicle approaching a particular location that is known to be difficultto navigate. This determination may optionally take into considerationother factors, including the time of day, the position of the sun, ifsuch situation is likely to cause a disturbance to the reliability ofsensor readings, and traffic or accident data derived from a variety ofsources.

FIG. 12 is an example of a flow diagram configured to control anautonomous vehicle, according to some embodiments. At 1202, flow 1200begins. Data representing a subset of objects that are received at aplanner in an autonomous vehicle, the subset of objects including atleast one object associated with data representing a degree of certaintyfor a classification type. For example, perception engine data mayinclude metadata associated with objects, whereby the metadata specifiesa degree of certainty associated with a specific classification type.For instance, a dynamic object may be classified as a “young pedestrian”with an 85% confidence level of being correct. At 1204, localizer datamay be received (e.g., at a planner). The localizer data may include mapdata that is generated locally within the autonomous vehicle. The localmap data may specify a degree of certainty (including a degree ofuncertainty) that an event at a geographic region may occur. An eventmay be a condition or situation affecting operation, or potentiallyaffecting operation, of an autonomous vehicle. The events may beinternal (e.g., failed or impaired sensor) to an autonomous vehicle, orexternal (e.g., roadway obstruction). Examples of events are describedherein, such as in FIG. 2 as well as in other figures and passages. Apath coextensive with the geographic region of interest may bedetermined at 1206. For example, consider that the event is thepositioning of the sun in the sky at a time of day in which theintensity of sunlight impairs the vision of drivers during rush hourtraffic. As such, it is expected or predicted that traffic may slow downresponsive to the bright sunlight. Accordingly, a planner maypreemptively invoke teleoperations if an alternate path to avoid theevent is less likely. At 1208, a local position is determined at aplanner based on local pose data. At 1210, a state of operation of anautonomous vehicle may be determined (e.g., probabilistically), forexample, based on a degree of certainty for a classification type and adegree of certainty of the event, which is may be based on any number offactors, such as speed, position, and other state information. Toillustrate, consider an example in which a young pedestrian is detectedby the autonomous vehicle during the event in which other drivers'vision likely will be impaired by the sun, thereby causing an unsafesituation for the young pedestrian. Therefore, a relatively unsafesituation can be detected as a probabilistic event that may be likely tooccur (i.e., an unsafe situation for which teleoperations may beinvoked). At 1212, a likelihood that the state of operation is in anormative state is determined, and based on the determination, a messageis transmitted to a teleoperator computing device requestingteleoperations to preempt a transition to a next state of operation(e.g., preempt transition from a normative to non-normative state ofoperation, such as an unsafe state of operation).

FIG. 13 depicts an example in which a planner may generate a trajectory,according to some examples. Diagram 1300 includes a trajectory evaluator1320 and a trajectory generator 1324. Trajectory evaluator 1320 includesa confidence level generator 1322 and a teleoperator query messenger1329. As shown, trajectory evaluator 1320 is coupled to a perceptionengine 1366 to receive static map data 1301, and current and predictedobject state data 1303. Trajectory evaluator 1320 also receives localpose data 1305 from localizer 1368 and plan data 1307 from a globalplanner 1369. In one state of operation (e.g., non-normative),confidence level generator 1322 receives static map data 1301 andcurrent and predicted object state data 1303. Based on this data,confidence level generator 1322 may determine that detected trajectoriesare associated with unacceptable confidence level values. As such,confidence level generator 1322 transmits detected trajectory data 1309(e.g., data including candidate trajectories) to notify a teleoperatorvia teleoperator query messenger 1329, which, in turn, transmits arequest 1370 for teleoperator assistance.

In another state of operation (e.g., a normative state), static map data1301, current and predicted object state data 1303, local pose data1305, and plan data 1307 (e.g., global plan data) are received intotrajectory calculator 1325, which is configured to calculate (e.g.,iteratively) trajectories to determine an optimal one or more paths.Next, at least one path is selected and is transmitted as selected pathdata 1311. According to some embodiments, trajectory calculator 1325 isconfigured to implement re-planning of trajectories as an example.Nominal driving trajectory generator 1327 is configured to generatetrajectories in a refined approach, such as by generating trajectoriesbased on receding horizon control techniques. Nominal driving trajectorygenerator 1327 subsequently may transmit nominal driving trajectory pathdata 1372 to, for example, a trajectory tracker or a vehicle controllerto implement physical changes in steering, acceleration, and othercomponents.

FIG. 14 is a diagram depicting another example of an autonomous vehicleservice platform, according to some embodiments. Diagram 1400 depicts anautonomous vehicle service platform 1401 including a teleoperatormanager 1407 that is configured to manage interactions and/orcommunications among teleoperators 1408, teleoperator computing devices1404, and other components of autonomous vehicle service platform 1401.Further to diagram 1400, autonomous vehicle service platform 1401includes a simulator 1440, a repository 1441, a policy manager 1442, areference data updater 1438, a 20 map data repository 1420, a 3D mapdata repository 1422, and a route data repository 1424. Other map data,such as 40 map data (e.g., using epoch determination), may beimplemented and stored in a repository (not shown).

Teleoperator action recommendation controller 1412 includes logicconfigured to receive and/or control a teleoperation service request viaautonomous vehicle (“AV”) planner data 1472, which can include requestsfor teleoperator assistance as well as telemetry data and other data. Assuch, planner data 1472 may include recommended candidate trajectoriesor paths from which a teleoperator 1408 via teleoperator computingdevice 1404 may select. According to some examples, teleoperator actionrecommendation controller 1412 may be configured to access other sourcesof recommended candidate trajectories from which to select an optimumtrajectory. For example, candidate trajectories contained in autonomousvehicle planner data 1472 may, in parallel, be introduced into simulator1440, which is configured to simulate an event or condition beingexperienced by an autonomous vehicle requesting teleoperator assistance.Simulator 1440 can access map data and other data necessary forperforming a simulation on the set of candidate trajectories, wherebysimulator 1440 need not exhaustively reiterate simulations to confirmsufficiency. Rather, simulator 1440 may provide either confirm theappropriateness of the candidate trajectories, or may otherwise alert ateleoperator to be cautious in their selection.

Teleoperator interaction capture analyzer 1416 may be configured tocapture numerous amounts of teleoperator transactions or interactionsfor storage in repository 1441, which, for example, may accumulate datarelating to a number of teleoperator transactions for analysis andgeneration of policies, at least in some cases. According to someembodiments, repository 1441 may also be configured to store policy datafor access by policy manager 1442. Further, teleoperator interactioncapture analyzer 1416 may apply machine learning techniques toempirically determine how best to respond to events or conditionscausing requests for teleoperation assistance. In some cases, policymanager 1442 may be configured to update a particular policy or generatea new policy responsive to analyzing the large set of teleoperatorinteractions (e.g., subsequent to applying machine learning techniques).Policy manager 1442 manages policies that may be viewed as rules orguidelines with which an autonomous vehicle controller and itscomponents operate under to comply with autonomous operations of avehicle. In some cases, a modified or updated policy may be applied tosimulator 1440 to confirm the efficacy of permanently releasing orimplementing such policy changes.

Simulator interface controller 1414 is configured to provide aninterface between simulator 1440 and teleoperator computing devices1404. For example, consider that sensor data from a fleet of autonomousvehicles is applied to reference data updater 1438 via autonomous (“AV”)fleet data 1470, whereby reference data updater 1438 is configured togenerate updated map and route data 1439. In some implementations,updated map and route data 1439 may be preliminarily released as anupdate to data in map data repositories 1420 and 1422, or as an updateto data in route data repository 1424. In this case, such data may betagged as being a “beta version” in which a lower threshold forrequesting teleoperator service may be implemented when, for example, amap tile including preliminarily updated information is used by anautonomous vehicle. Further, updated map and route data 1439 may beintroduced to simulator 1440 for validating the updated map data. Uponfull release (e.g., at the close of beta testing), the previouslylowered threshold for requesting a teleoperator service related to maptiles is canceled. User interface graphics controller 1410 provides richgraphics to teleoperators 1408, whereby a fleet of autonomous vehiclesmay be simulated within simulator 1440 and may be accessed viateleoperator computing device 1404 as if the simulated fleet ofautonomous vehicles were real.

FIG. 15 is an example of a flow diagram to control an autonomous 25vehicle, according to some embodiments. At 1502, flow 1500 begins.Message data may be received at a teleoperator computing device formanaging a fleet of autonomous vehicles. The message data may indicateevent attributes associated with a non-normative state of operation inthe context of a planned path for an autonomous vehicle. For example, anevent may be characterized as a particular intersection that becomesproblematic due to, for example, a large number of pedestrians,hurriedly crossing the street against a traffic light. The eventattributes describe the characteristics of the event, such as, forexample, the number of people crossing the street, the traffic delaysresulting from an increased number of pedestrians, etc. At 1504, ateleoperation repository may be accessed to retrieve a first subset ofrecommendations based on simulated operations of aggregated dataassociated with a group of autonomous vehicles. In this case, asimulator may be a source of recommendations with which a teleoperatormay implement. Further, the teleoperation repository may also beaccessed to retrieve a second subset of recommendations based on anaggregation of teleoperator interactions responsive to similar eventattributes. In particular, a teleoperator interaction capture analyzermay apply machine learning techniques to empirically determine how bestto respond to events having similar attributes based on previousrequests for teleoperation assistance. At 1506, the first subset and thesecond subset of recommendations are combined to form a set ofrecommended courses of action for the autonomous vehicle. At 1508,representations of the set of recommended courses of actions may bepresented visually on a display of a teleoperator computing device. At1510, data signals representing a selection (e.g., by teleoperator) of arecommended course of action may be detected.

FIG. 16 is a diagram of an example of an autonomous vehicle fleetmanager implementing a fleet optimization manager, according to someexamples. Diagram 1600 depicts an autonomous vehicle fleet manager thatis configured to manage a fleet of autonomous vehicles 1630 transitingwithin a road network 1650. Autonomous vehicle fleet manager 1603 iscoupled to a teleoperator 1608 via a teleoperator computing device 1604,and is also coupled to a fleet management data repository 1646.Autonomous vehicle fleet manager 1603 is configured to receive policydata 1602 and environmental data 1606, as well as other data. Further todiagram 1600, fleet optimization manager 1620 is shown to include atransit request processor 1631, which, in turn, includes a fleet dataextractor 1632 and an autonomous vehicle dispatch optimizationcalculator 1634. Transit request processor 1631 is configured to processtransit requests, such as from a user 1688 who is requesting autonomousvehicle service. Fleet data extractor 1632 is configured to extract datarelating to autonomous vehicles in the fleet. Data associated with eachautonomous vehicle is stored in repository 1646. For example, data foreach vehicle may describe maintenance issues, scheduled service calls,daily usage, battery charge and discharge rates, and any other data,which may be updated in real-time, may be used for purposes ofoptimizing a fleet of autonomous vehicles to minimize downtime.Autonomous vehicle dispatch optimization calculator 1634 is configuredto analyze the extracted data and calculate optimized usage of the fleetso as to ensure that the next vehicle dispatched, such as from station1652, provides for the least travel times and/or costs-in theaggregate-for the autonomous vehicle service.

Fleet optimization manager 1620 is shown to include a hybrid autonomousvehicle/non-autonomous vehicle processor 1640, which, in turn, includesan AV/non-AV optimization calculator 1642 and a non-AV selector 1644.According to some examples, hybrid autonomous vehicle/non-autonomousvehicle processor 1640 is configured to manage a hybrid fleet ofautonomous vehicles and human-driven vehicles (e.g., as independentcontractors). As such, autonomous vehicle service may employnon-autonomous vehicles to meet excess demand, or in areas, such asnon-AV service region 1690, that may be beyond a geo-fence or in areasof poor communication coverage. AV/non-AV optimization calculator 1642is configured to optimize usage of the fleet of autonomous and to invitenon-AV drivers into the transportation service (e.g., with minimal or nodetriment to the autonomous vehicle service). Non-AV selector 1644includes logic for selecting a number of non-A V drivers to assist basedon calculations derived by AV/non-AV optimization calculator 1642.

FIG. 17 is an example of a flow diagram to manage a fleet of autonomousvehicles, according to some embodiments. At 1702, flow 1700 begins. At1702, policy data is received. The policy data may include parametersthat define how best apply to select an autonomous vehicle for servicinga transit request. At 1704, fleet management data from a repository maybe extracted. The fleet management data includes subsets of data for apool of autonomous vehicles (e.g., the data describes the readiness ofvehicles to service a transportation request). At 1706, datarepresenting a transit request is received. For exemplary purposes, thetransit request could be for transportation from a first geographiclocation to a second geographic location. At 1708, attributes based onthe policy data are calculated to determine a subset of autonomousvehicles that are available to service the request. For example,attributes may include a battery charge level and time until nextscheduled maintenance. At 1710, an autonomous vehicle is selected astransportation from the first geographic location to the secondgeographic location, and data is generated to dispatch the autonomousvehicle to a third geographic location associated with the originationof the transit request.

FIG. 18 is a diagram illustrating an autonomous vehicle fleet managerimplementing an autonomous vehicle communications link manager,according to some embodiments. Diagram 1800 depicts an autonomousvehicle fleet manager that is configured to manage a fleet of autonomousvehicles 1830 transiting within a road network 1850 that coincides witha communication outage at an area identified as “reduced communicationregion” 1880. Autonomous vehicle fleet manager 1803 is coupled to ateleoperator 1808 via a teleoperator computing device 1804. Autonomousvehicle fleet manager 1803 is configured to receive policy data 1802 andenvironmental data 1806, as well as other data. Further to diagram 1800,an autonomous vehicle communications link manager 1820 is shown toinclude an environment event detector 1831, a policy adaptiondeterminator 1832, and a transit request processor 1834. Environmentevent detector 1831 is configured to receive environmental data 1806specifying a change within the environment in which autonomous vehicleservice is implemented. For example, environmental data 1806 may specifythat region 1880 has degraded communication services, which may affectthe autonomous vehicle service. Policy adaption determinator 1832 mayspecify parameters with which to apply when receiving transit requestsduring such an event (e.g., during a loss of communications). Transitrequest processor 1834 is configured to process transit requests in viewof the degraded communications. In this example, a user 1888 isrequesting autonomous vehicle service. Further, transit requestprocessor 1834 includes logic to apply an adapted policy for modifyingthe way autonomous vehicles are dispatched so to avoid complications dueto poor communications.

Communication event detector 1840 includes a policy download manager1842 and communications-configured (“COMM-configured”) AV dispatcher1844. Policy download manager 1842 is configured to provide autonomousvehicles 1830 an updated policy in view of reduced communications region1880, whereby the updated policy may specify routes to quickly exitregion 1880 if an autonomous vehicle enters that region. For example,autonomous vehicle 1864 may receive an updated policy moments beforedriving into region 1880. Upon loss of communications, autonomousvehicle 1864 implements the updated policy and selects route 1866 todrive out of region 1880 quickly. COMM-configured AV dispatcher 1844 maybe configured to identify points 1865 at which to park autonomousvehicles that are configured as relays to establishing a peer-to-peernetwork over region 1880. As such, COMM-configured AV dispatcher 1844 isconfigured to dispatch autonomous vehicles 1862 (without passengers) topark at locations 1865 for the purposes of operating as communicationtowers in a peer-to-peer ad hoc network.

FIG. 19 is an example of a flow diagram to determine actions forautonomous vehicles during an event, such as degraded or lostcommunications, according to some embodiments. At 1901, flow 1900begins. Policy data is received, whereby the policy data definesparameters with which to apply to transit requests in a geographicalregion during an event. At 1902, one or more of the following actionsmay be implemented: (1) dispatch a subset of autonomous vehicles togeographic locations in the portion of the geographic location, thesubset of autonomous vehicles being configured to either park atspecific geographic locations and each serve as a static communicationrelay, or transit in a geographic region to each serve as a mobilecommunication relay, (2) implement peer-to-peer communications among aportion of the pool of autonomous vehicles associated with the portionof the geographic region, (3) provide to the autonomous vehicles anevent policy that describes a route to egress the portion of thegeographic region during an event, (4) invoke teleoperations, and (5)recalculate paths so as to avoid the geographic portion. Subsequent toimplementing the action, the fleet of autonomous vehicles is monitoredat 1914.

FIG. 20 is a diagram depicting an example of a localizer, according tosome embodiments. Diagram 2000 includes a localizer 2068 configured toreceive sensor data from sensors 2070, such as Lidar data 2072, cameradata 2074, radar data 2076, and other data 2078. Further, localizer 2068is configured to receive reference data 2020, such as 2D map data 2022,3D map data 2024, and 3D local map data. According to some examples,other map data, such as 40 map data 2025 and semantic map data (notshown), including corresponding data structures and repositories, mayalso be implemented. Further to diagram 2000, localizer 2068 includes apositioning system 2010 and a localization system 2012, both of whichare configured to receive sensor data from sensors 2070 as well asreference data 2020. Localization data integrator 2014 is configured toreceive data from positioning system 2010 and data from localizationsystem 2012, whereby localization data integrator 2014 is configured tointegrate or fuse sensor data from multiple sensors to form local posedata 2052.

FIG. 21 is an example of a flow diagram to generate local pose databased on integrated sensor data, according to some embodiments. At 2101,flow 2100 begins. At 2102, reference data is received, the referencedata including three dimensional map data. In some examples, referencedata, such as 3D or 4D map data, may be received via one or morenetworks. At 2104, localization data from one or more localizationsensors is received and placed into a localization system. At 2106,positioning data from one or more positioning sensors is received into apositioning system. At 2108, the localization and positioning data areintegrated. At 2110, the localization data and positioning data areintegrated to form local position data specifying a geographic positionof an autonomous vehicle.

FIG. 22 is a diagram depicting another example of a localizer, accordingto some embodiments. Diagram 2200 includes a localizer 2268, which, inturn, includes a localization system 2210 and a relative localizationsystem 2212 to generate positioning-based data 2250 and locallocation-based data 2251, respectively. Localization system 2210includes a projection processor 2254 a for processing GPS data 2273, aGPS datum 2211, and 3D Map data 2222, among other optional data (e.g.,4D map data). Localization system 2210 also includes an odometryprocessor 2254 b to process wheel data 2275 (e.g., wheel speed), vehiclemodel data 2213 and 3D map data 2222, among other optional data. Furtheryet, localization system 2210 includes an integrator processor 2254 c toprocess IMU data 2257, vehicle model data 2215, and 3D map data 2222,among other optional data. Similarly, relative localization system 2212includes a Lidar localization processor 2254 d for processing Lidar data2272, 20 tile map data 2220, 3D map data 2222, and 3D local map data2223, among other optional data. Relative localization system 2212 alsoincludes a visual registration processor 2254 e to process camera data2274, 3D map data 2222, and 3D local map data 2223, among other optionaldata. Further yet, relative localization system 2212 includes a radarreturn processor 2254 f to process radar data 2276, 3D map data 2222,and 3D local map data 2223, among other optional data. Note that invarious examples, other types of sensor data and sensors or processorsmay be implemented, such as sonar data and the like.

Further to diagram 2200, localization-based data 2250 and relativelocalization-based data 2251 may be fed into data integrator 2266 a andlocalization data integrator 2266, respectively. Data integrator 2266 aand localization data integrator 2266 may be configured to fusecorresponding data, whereby localization-based data 2250 may be fused atdata integrator 2266 a prior to being fused with relativelocalization-based data 2251 at localization data integrator 2266.According to some embodiments, data integrator 2266 a is formed as partof localization data integrator 2266, or is absent. Regardless, alocalization-based data 2250 and relative localization-based data 2251can be both fed into localization data integrator 2266 for purposes offusing data to generate local position data 2252. Localization-baseddata 2250 may include unary-constrained data (and uncertainty values)from projection processor 2254 a, as well as binary-constrained data(and uncertainty values) from odometry processor 2254 b and integratorprocessor 2254 c. Relative localization-based data 2251 may includeunary-constrained data (and uncertainty values) from localizationprocessor 2254 d and visual registration processor 2254 e, andoptionally from radar return processor 2254 f. According to someembodiments, localization data integrator 2266 may implement non-linearsmoothing functionality, such as a Kalman filter (e.g., a gated Kalmanfilter), a relative bundle adjuster, pose-graph relaxation, particlefilter, histogram filter, or the like.

FIG. 23 is a diagram depicting an example of a perception engine,according to some embodiments. Diagram 2300 includes a perception engine2366, which, in turn, includes a segmentation processor 2310, an objecttracker 2330, and a classifier 2360. Further, perception engine 2366 isconfigured to receive a local position data 2352, Lidar data 2372,camera data 2374, and radar data 2376, for example. Note that othersensor data, such as sonar data, may be accessed to providefunctionalities of perception engine 2366. Segmentation processor 2310is configured to extract ground plane data and/or to segment portions ofan image to distinguish objects from each other and from static imagery(e.g., background). In some cases, 3D blobs may be segmented todistinguish each other. In some examples, a blob may refer to a set offeatures that identify an object in a spatially-reproduced environmentand may be composed of elements (e.g., pixels of camera data, points oflaser return data, etc.) having similar characteristics, such asintensity and color. In some examples, a blob may also refer to a pointcloud (e.g., composed of colored laser return data) or other elementsconstituting an object. Object tracker 2330 is configured to performframe-to-frame estimations of motion for blobs, or other segmented imageportions. Further, data association is used to associate a blob at onelocation in a first frame at time, t1, to a blob in a different positionin a second frame at time, t2. In some examples, object tracker 2330 isconfigured to perform real-time probabilistic tracking of 3D objects,such as blobs. Classifier 2360 is configured to identify an object andto classify that object by classification type (e.g., as a pedestrian,cyclist, etc.) and by energy/activity (e.g. whether the object isdynamic or static), whereby data representing classification isdescribed by a semantic label. According to some embodiments,probabilistic estimations of object categories may be performed, such asclassifying an object as a vehicle, bicyclist, pedestrian, etc. withvarying confidences per object class. Perception engine 2366 isconfigured to determine perception engine data 2354, which may includestatic object maps and/or dynamic object maps, as well as semanticinformation so that, for example, a planner may use this information toenhance path planning. According to various examples, one or more ofsegmentation processor 2310, object tracker 2330, and classifier 2360may apply machine learning techniques to generate perception engine data2354.

FIG. 24 is an example of a flow chart to generate perception enginedata, according to some embodiments. Flow chart 2400 begins at 2402, atwhich data representing a local position of an autonomous vehicle isretrieved. At 2404, localization data from one or more localizationsensors is received, and features of an environment in which theautonomous vehicle is disposed are segmented at 2406 to form segmentedobjects. One or more portions of the segmented object are trackedspatially at 2408 to form at least one tracked object having a motion(e.g., an estimated motion). At 2410, a tracked object is classified atleast as either being a static object or a dynamic object. In somecases, a static object or a dynamic object may be associated with aclassification type. At 2412, data identifying a classified object isgenerated. For example, the data identifying the classified object mayinclude semantic information.

FIG. 25 is an example of a segmentation processor, according to someembodiments. Diagram 2500 depicts a segmentation processor 2510receiving Lidar data from one or more Lidars 2572 and camera image datafrom one or more cameras 2574. Local pose data 2552, Lidar data, andcamera image data are received into meta spin generator 2521. In someexamples, meta spin generator is configured to partition an image basedon various attributes (e.g., color, intensity, etc.) intodistinguishable regions (e.g., clusters or groups of a point cloud), atleast two or more of which may be updated at the same time or about thesame time. Meta spin data 2522 is used to perform object segmentationand ground segmentation at segmentation processor 2523, whereby bothmeta spin data 2522 and segmentation-related data from segmentationprocessor 2523 are applied to a scanned differencing processor 2513.Scanned differencing processor 2513 is configured to predict motionand/or relative velocity of segmented image portions, which can be usedto identify dynamic objects at 2517. Data indicating objects withdetected velocity at 2517 are optionally transmitted to the planner toenhance path planning decisions. Additionally, data from scanneddifferencing processor 2513 may be used to approximate locations ofobjects to form mapping of such objects (as well as optionallyidentifying a level of motion). In some examples, an occupancy grid map2515 may be generated. Data representing an occupancy grid map 2515 maybe transmitted to the planner to further enhance path planning decisions(e.g., by reducing uncertainties). Further to diagram 2500, image cameradata from one or more cameras 2574 are used to classify blobs in blobclassifier 2520, which also receives blob data 2524 from segmentationprocessor 2523. Segmentation processor 2510 also may receive raw radarreturns data 2512 from one or more radars 2576 to perform segmentationat a radar segmentation processor 2514, which generates radar-relatedblob data 2516. Further to FIG., segmentation processor 2510 may alsoreceive and/or generate tracked blob data 2518 related to radar data.Blob data 2516, tracked blob data 2518, data from blob classifier 2520,and blob data 2524 may be used to track objects or portions thereof.According to some examples, one or more of the following may beoptional: scanned differencing processor 2513, blob classification 2520,and data from radar 2576.

FIG. 26A is a diagram depicting examples of an object tracker 20 and aclassifier, according to various embodiments. Object tracker 2630 ofdiagram 2600 is configured to receive blob data 2516, tracked blob data2518, data from blob classifier 2520, blob data 2524, and camera imagedata from one or more cameras 2676. Image tracker 2633 is configured toreceive camera image data from one or more cameras 2676 to generatetracked image data, which, in turn, may be provided to data associationprocessor 2632. As shown, data association processor 2632 is configuredto receive blob data 2516, tracked blob data 2518, data from blobclassifier 2520, blob data 2524, and track image data from image tracker2633, and is further configured to identify one or more associationsamong the above-described types of data. Data association processor 2632is configured to track, for example, various blob data from one frame toa next frame to, for example, estimate motion, among other things.Further, data generated by data association processor 2632 may be usedby track updater 2634 to update one or more tracks, or tracked objects.In some examples, track updater 2634 may implement a Kalman Filter, orthe like, to form updated data for tracked objects, which may be storedonline in track database (“DB”) 2636. Feedback data may be exchanged viapath 2699 between data association processor 2632 and track database2636. In some examples, image tracker 2633 may be optional and may beexcluded. Object tracker 2630 may also use other sensor data, such asradar or sonar, as well as any other types of sensor data, for example.

FIG. 26B is a diagram depicting another example of an object trackeraccording to at least some examples. Diagram 2601 includes an objecttracker 2631 that may include structures and/or functions assimilarly-named elements described in connection to one or more otherdrawings (e.g., FIG. 26A). As shown, object tracker 2631 includes anoptional registration portion 2699 that includes a processor 2696configured to perform object scan registration and data fusion.Processor 2696 is further configured to store the resultant data in 3Dobject database 2698.

Referring back to FIG. 26A, diagram 2600 also includes classifier 2660,which may include a track classification engine 2662 for generatingstatic obstacle data 2672 and dynamic obstacle data 2674, both of whichmay be transmitted to the planner for path planning purposes. In atleast one example, track classification engine 2662 is configured todetermine whether an obstacle is static or dynamic, as well as anotherclassification type for the object (e.g., whether the object is avehicle, pedestrian, tree, cyclist, dog, cat, paper bag, etc.). Staticobstacle data 2672 may be formed as part of an obstacle map (e.g., a 2Doccupancy map), and dynamic obstacle data 2674 may be formed to includebounding boxes with data indicative of velocity and classification type.Dynamic obstacle data 2674, at least in some cases, includes 2D dynamicobstacle map data.

FIG. 27 is an example of front-end processor for a perception engine,according to some examples. Diagram 2700 includes a ground segmentationprocessor 2723 a for performing ground segmentation, and an oversegmentation processor 2723 b for performing “over-segmentation,”according to various examples. Processors 2723 a and 2723 b areconfigured to receive optionally colored Lidar data 2775. Oversegmentation processor 2723 b generates data 2710 of a first blob type(e.g., a relatively small blob), which is provided to an aggregationclassification and segmentation engine 2712 that generates data 2714 ofa second blob type. Data 2714 is provided to data association processor2732, which is configured to detect whether data 2714 resides in trackdatabase 2736. A determination is made at 2740 whether data 2714 of thesecond blob type (e.g., a relatively large blob, which may include oneor more smaller blobs) is a new track. If so, a track is initialized at2742, otherwise, the tracked object data stored in track database 2736and the track may be extended or updated by track updater 2742. Trackclassification engine 2762 is coupled to track database 2736 to identifyand update/modify tracks by, for example, adding, removing or modifyingtrack-related data.

FIG. 28 is a diagram depicting a simulator configured to simulate anautonomous vehicle in a synthetic environment, according to variousembodiments. Diagram 2800 includes a simulator 2840 that is configuredto generate a simulated environment 2803. As shown, simulator 2840 isconfigured to use reference data 2822 (e.g., 3D map data and/or othermap or route data including RNDF data or similar road network data) togenerate simulated geometries, such as simulated surfaces 2892 a and2892 b, within simulated environment 2803. Simulated surfaces 2892 a and2892 b may simulate walls or front sides of buildings adjacent aroadway. Simulator 2840 may also pre-generated or procedurally generateduse dynamic object data 2825 to simulate dynamic agents in a syntheticenvironment. An example of a dynamic agent is simulated dynamic object2801, which is representative of a simulated cyclist having a velocity.The simulated dynamic agents may optionally respond to other static anddynamic agents in the simulated environment, including the simulatedautonomous vehicle. For example, simulated object 2801 may slow down forother obstacles in simulated environment 2803 rather than follow apreset trajectory, thereby creating a more realistic simulation ofactual dynamic environments that exist in the real world.

Simulator 2840 may be configured to generate a simulated autonomousvehicle controller 2847, which includes synthetic adaptations of aperception engine 2866, a localizer 2868, a motion controller 2862, anda planner 2864, each of which may have functionalities described hereinwithin simulated environment 2803. Simulator 2840 may also generatesimulated interfaces (“I/F”) 2849 to simulate the data exchanges withdifferent sensors modalities and different sensor data formats. As such,simulated interface 2849 may simulate a software interface forpacketized data from, for example, a simulated Lidar sensor 2872.Further, simulator 2840 may also be configured to generate a simulatedautonomous vehicle 2830 that implements simulated AV controller 2847.Simulated autonomous vehicle 2830 includes simulated Lidar sensors 202872, simulated camera or image sensors 2874, and simulated radarsensors 2876. In the example shown, simulated Lidar sensor 2872 may beconfigured to generate a simulated laser consistent with ray trace 2892,which causes generation of simulated sensor return 2891. Note thatsimulator 2840 may simulate the addition of noise or other environmentaleffects on sensor data (e.g., 25 added diffusion or reflections thataffect simulated sensor return 2891, etc.). Further yet, simulator 2840may be configured to simulate a variety of sensor defects, includingsensor failure, sensor miscalibration, intermittent data outages, andthe like.

Simulator 2840 includes a physics processor 2850 for simulating themechanical, static, dynamic, and kinematic aspects of an autonomousvehicle for use in simulating behavior of simulated autonomous vehicle2830. For example, physics processor 2850 includes a content mechanicsmodule 2851 for simulating contact mechanics, a collision detectionmodule 2852 for simulating the interaction between simulated bodies, anda multibody dynamics module 2854 to simulate the interaction betweensimulated mechanical interactions.

Simulator 2840 also includes a simulator controller 2856 10 configuredto control the simulation to adapt the functionalities of anysynthetically-generated element of simulated environment 2803 todetermine cause-effect relationship, among other things. Simulator 2840includes a simulator evaluator 2858 to evaluate the performancesynthetically-generated element of simulated environment 2803. Forexample, simulator evaluator 2858 may analyze simulated vehicle commands2880 (e.g., simulated steering angles and simulated velocities) todetermine whether such commands are an appropriate response to thesimulated activities within simulated environment 2803. Further,simulator evaluator 2858 may evaluate interactions of a teleoperator2808 with the simulated autonomous vehicle 2830 via teleoperatorcomputing device 2804. Simulator evaluator 2858 may evaluate the effectsof updated reference data 2827, including updated map tiles and routedata, which may be added to guide the responses of simulated autonomousvehicle 2830. Simulator evaluator 2858 may also evaluate the responsesof simulator AV controller 2847 when policy data 2829 is updated,deleted, or added. The above-description of simulator 2840 is notintended to be limiting. As such, simulator 2840 is configured toperform a variety of different simulations of an autonomous vehiclerelative to a simulated environment, which include both static anddynamic features. For example, simulator 2840 may be used to validatechanges in software versions to ensure reliability. Simulator 2840 mayalso be used to determine vehicle dynamics properties and forcalibration purposes. Further, simulator 2840 may be used to explore thespace of applicable controls and resulting trajectories so as to effectlearning by self-simulation.

FIG. 29 is an example of a flow chart to simulate various aspects of anautonomous vehicle, according to some embodiments. Flow chart 2900begins at 2902, at which reference data including three dimensional mapdata is received into a simulator. Dynamic object data defining motionpatterns for a classified object may be retrieved at 2904. At 2906, asimulated environment is formed based on at least three dimensional(“3D”) map data and the dynamic object data. The simulated environmentmay include one or more simulated surfaces. At 2908, an autonomousvehicle is simulated that includes a simulated autonomous vehiclecontroller that forms part of a simulated environment. The autonomousvehicle controller may include a simulated perception engine and asimulated localizer configured to receive sensor data. At 2910,simulated sensor data are generated based on data for at least onesimulated sensor return, and simulated vehicle commands are generated at2912 to cause motion (e.g., vectored propulsion) by a simulatedautonomous vehicle in a synthetic environment. At 2914, simulatedvehicle commands are evaluated to determine whether the simulatedautonomous vehicle behaved consistent with expected behaviors (e.g.,consistent with a policy).

FIG. 30 is an example of a flow chart to generate map data, according tosome embodiments. Flow chart 3000 begins at 3002, at which trajectorydata is retrieved. The trajectory data may include trajectories capturedover a duration of time (e.g., as logged trajectories). At 3004, atleast localization data may be received. The localization data may becaptured over a duration of time (e.g., as logged localization data). At3006, a camera or other image sensor may be implemented to generate asubset of the localization data. As such, the retrieved localizationdata may include image data. At 3008, subsets of localization data arealigned to identifying a global position (e.g., a global pose). At 3010,three dimensional (“3D”) map data is generated based on the globalposition, and at 3012, the 3 dimensional map data is available forimplementation by, for example, a manual route data editor (e.g.,including a manual road network data editor, such as an RNDF editor), anautomated route data generator (e.g., including an automatic roadnetwork generator, including an automatic RNDF generator), a fleet ofautonomous vehicles, a simulator, a teleoperator computing device, andany other component of an autonomous vehicle service.

FIG. 31 is a diagram depicting an architecture of a mapping engine,according to some embodiments. Diagram 3100 includes a 3D mapping enginethat is configured to receive trajectory log data 3140, Lidar log data3172, camera log data 3174, radar log data 3176, and other optionallogged sensor data (not shown). Logic 3141 includes a loop-closuredetector 3150 configured to detect whether sensor data indicates anearby point in space has been previously visited, among other things.Logic 3141 also includes a registration controller 3152 for aligning mapdata, including 3D map data in some cases, relative to one or moreregistration points. Further, logic 3141 provides data 3142 representingstates of loop closures for use by a global pose graph generator 3143,which is configured to generate pose graph data 3145. In some examples,pose graph data 3145 may also be generated based on data fromregistration refinement module 3146. Logic 3144 includes a 3D mapper3154 and a Lidar self-calibration unit 3156. Further, logic 3144receives sensor data and pose graph data 3145 to generate 3D map data3120 (or other map data, such as 4D map data). In some examples, logic3144 may implement a truncated sign distance function (“TSDF”) to fusesensor data and/or map data to form optimal three-dimensional maps.Further, logic 3144 is configured to include texture and reflectanceproperties. 3D map data 3120 may be released for usage by a manual routedata editor 3160 (e.g., an editor to manipulate Route data or othertypes of route or reference data), an automated route data generator3162 (e.g., logic to configured to generate route data or other types ofroad network or reference data), a fleet of autonomous vehicles 3164, asimulator 3166, a teleoperator computing device 3168, and any othercomponent of an autonomous vehicle service. Mapping engine 3110 maycapture semantic information from manual annotation orautomatically-generated annotation as well as other sensors, such assonar or instrumented environment (e.g., smart stop-lights).

FIG. 32 is a diagram depicting an autonomous vehicle application,according to some examples. Diagram 3200 depicts a mobile computingdevice 3203 including an autonomous service application 3240 that isconfigured to contact an autonomous vehicle service platform 3201 toarrange transportation of user 3202 via an autonomous vehicle 3230. Asshown, autonomous service application 3240 may include a transportationcontroller 3242, which may be a software application residing on acomputing device (e.g., a mobile phone 3203, etc.). Transportationcontroller 3242 is configured to receive, schedule, select, or performoperations related to autonomous vehicles and/or autonomous vehiclefleets for which a user 3202 may arrange transportation from the user'slocation to a destination. For example, user 3202 may open up anapplication to request vehicle 3230. The application may display a mapand user 3202 may drop a pin to indicate their destination within, forexample, a geo-fenced region. Alternatively, the application may displaya list of nearby pre-specified pick-up locations, or provide the userwith a text entry field in which to type a destination either by addressor by name.

Further to the example shown, autonomous vehicle application 3240 mayalso include a user identification controller 3246 that may beconfigured to detect that user 3202 is in a geographic region, orvicinity, near autonomous vehicle 3230, as the vehicle approaches. Insome situations, user 3202 may not readily perceive or identifyautonomous vehicle 3230 as it approaches for use by user 3203 (e.g., dueto various other vehicles, including trucks, cars, taxis, and otherobstructions that are typical in city environments). In one example,autonomous vehicle 3230 may establish a wireless communication link 3262(e.g., via a radio frequency (“RF”) signal, such as WiFi or Bluetooth®,including BLE, or the like) for communicating and/or determining aspatial location of user 3202 relative to autonomous vehicle 3230 (e.g.,using relative direction of RF signal and signal strength). In somecases, autonomous vehicle 3230 may detect an approximate geographiclocation of user 3202 using, for example, GPS data or the like. A GPSreceiver (not shown) of mobile computing device 3203 may be configuredto provide GPS data to autonomous vehicle service application 3240.Thus, user identification controller 3246 may provide GPS data via link3260 to autonomous vehicle service platform 3201, which, in turn, mayprovide that location to autonomous vehicle 3230 via link 3261.Subsequently, autonomous vehicle 3230 may determine a relative distanceand/or direction of user 3202 by comparing the user's GPS data to thevehicle's GPS-derived location.

Autonomous vehicle 3230 may also include additional logic to identifythe presence of user 3202, such that logic configured to perform facedetection algorithms to detect either user 3202 generally, or tospecifically identify the identity (e.g., name, phone number, etc.) ofuser 3202 based on the user's unique facial characteristics. Further,autonomous vehicle 3230 may include logic to detect codes foridentifying user 3202. Examples of such codes include specialized visualcodes, such as OR codes, color codes, etc., specialized audio codes,such as voice activated or recognized codes, etc., and the like. In somecases, a code may be an encoded security key that may be transmitteddigitally via link 3262 to autonomous vehicle 3230 to ensure secureingress and/or egress. Further, one or more of the above-identifiedtechniques for identifying user 3202 may be used as a secured means togrant ingress and egress privileges to user 3202 so as to prevent othersfrom entering autonomous vehicle 3230 (e.g., to ensure third partypersons do not enter an unoccupied autonomous vehicle prior to arrivingat user 3202). According to various examples, any other means foridentifying user 3202 and providing secured ingress and egress may alsobe implemented in one or more of autonomous vehicle service application3240, autonomous vehicle service platform 3201, and autonomous vehicle3230.

To assist user 3302 in identifying the arrival of its requestedtransportation, autonomous vehicle 3230 may be configured to notify orotherwise alert user 3202 to the presence of autonomous vehicle 3230 asit approaches user 3202. For example, autonomous vehicle 3230 mayactivate one or more light-emitting devices 3280 (e.g., LEOs) inaccordance with specific light patterns. In particular, certain lightpatterns are created so that user 3202 may readily perceive thatautonomous vehicle 3230 is reserved to service the transportation needsof user 3202. As an example, autonomous vehicle 3230 may generate lightpatterns 3290 that may be perceived by user 3202 as a “wink,” or otheranimation of its exterior and interior lights in such a visual andtemporal way. The patterns of light 3290 may be generated with orwithout patterns of sound to identify to user 3202 that this vehicle isthe one that they booked.

According to some embodiments, autonomous vehicle user controller 3244may implement a software application that is configured to controlvarious functions of an autonomous vehicle. Further, an application maybe configured to redirect or reroute the autonomous vehicle duringtransit to its initial destination. Further, autonomous vehicle usercontroller 3244 may be configured to cause on-board logic to modifyinterior lighting of autonomous vehicle 3230 to effect, for example,mood lighting. Controller 3244 may also control a source of audio (e.g.,an external source such as Spotify, or audio stored locally on themobile computing device 3203), select a type of ride (e.g., modifydesired acceleration and braking aggressiveness, modify activesuspension parameters to select a set of “road-handling” characteristicsto implement aggressive driving characteristics, including vibrations,or to select “soft-ride” qualities with vibrations dampened forcomfort), and the like. For example, mobile computing device 3203 may beconfigured to control HVAC functions as well, like ventilation andtemperature.

FIGS. 33 to 35 illustrate examples of various computing platformsconfigured to provide various functionalities to components of anautonomous vehicle service, according to various embodiments. In someexamples, computing platform 3300 may be used to implement computerprograms, applications, methods, processes, algorithms, or othersoftware to perform the above-described techniques.

Note that various structures and/or functionalities of FIG. 33 areapplicable to FIGS. 34 and 35, and, as such, some elements in thosefigures may be discussed in the context of FIG. 33.

In some cases, computing platform 3300 can be disposed in any device,such as a computing device 3390 a, which may be disposed in anautonomous vehicle 3391, and/or mobile computing device 3390 b.

Computing platform 3300 includes a bus 3302 or other communicationmechanism for communicating information, which interconnects subsystemsand devices, such as processor 3304, system memory 3306 (e.g., 20 RAM,etc.), storage device 3308 (e.g., ROM, etc.), an in-memory cache (whichmay be implemented in RAM 3306 or other portions of computing platform3300), a communication interface 3313 (e.g., an Ethernet or wirelesscontroller, a Bluetooth controller, NFC logic, etc.) to facilitatecommunications via a port on communication link 3321 to communicate, forexample, with a computing device, including mobile computing and/orcommunication devices with processors. Processor 3304 can be implementedwith one or more graphics processing units (“GPUs”), with one or morecentral processing units (“CPUs”), such as those manufactured by Intel®Corporation, or one or more virtual processors, as well as anycombination of CPUs and virtual processors. Computing platform 3300exchanges data representing inputs and outputs via input-and-outputdevices 3301, including, but not limited to, keyboards, mice, audioinputs (e.g., speech-to-text devices), user interfaces, displays,monitors, cursors, touch-sensitive displays, LCD or LED displays, andother I/O-related devices.

According to some examples, computing platform 3300 performs specificoperations by processor 3304 executing one or more sequences of one ormore instructions stored in system memory 3306, and computing platform3300 can be implemented in a client-server arrangement, peer-to-peerarrangement, or as any mobile computing device, including smart phonesand the like. Such instructions or data may be read into system memory3306 from another computer readable medium, such as storage device 3308.In some examples, hard-wired circuitry may be used in place of or incombination with software instructions for implementation. Instructionsmay be embedded in software or firmware. The term “computer readablemedium” refers to any tangible medium that participates in providinginstructions to processor 3304 for execution. Such a medium may takemany forms, including but not limited to, non-volatile media andvolatile media. Non-volatile media includes, for example, optical ormagnetic disks and the like. Volatile media includes dynamic memory,such as system memory 3306.

Common forms of computer readable media includes, for example, floppydisk, flexible disk, hard disk, magnetic tape, any other magneticmedium, CD-ROM, any other optical medium, punch cards, paper tape, anyother physical medium with patterns of holes, RAM, PROM, EPROM,FLASHEPROM, any other memory chip or cartridge, or any other medium fromwhich a computer can read. Instructions may further be transmitted orreceived using a transmission medium. The term “transmission medium” mayinclude any tangible or intangible medium that is capable of storing,encoding or carrying instructions for execution by the machine, andincludes digital or analog communications signals or other intangiblemedium to facilitate communication of such instructions. Transmissionmedia includes coaxial cables, copper wire, and fiber optics, includingwires that comprise bus 3302 for transmitting a computer data signal.

In some examples, execution of the sequences of instructions may beperformed by computing platform 3300. According to some examples,computing platform 3300 can be coupled by communication link 3321 (e.g.,a wired network, such as LAN, PSTN, or any wireless network, includingWiFi of various standards and protocols, Bluetooth®, NFC, Zig-Bee, etc.)to any other processor to perform the sequence of instructions incoordination with (or asynchronous to) one another. Computing platform3300 may transmit and receive messages, data, and instructions,including program code (e.g., application code) through communicationlink 3321 and communication interface 3313. Received program code may beexecuted by processor 3304 as it is received, and/or stored in memory3306 or other non-volatile storage for later execution.

In the example shown, system memory 3306 can include various modulesthat include executable instructions to implement functionalitiesdescribed herein. System memory 3306 may include an operating system(“O/S”) 3332, as well as an application 3336 and/or logic module(s)3359. In the example shown in FIG. 33, system memory 3306 includes anautonomous vehicle (“AV”) controller module 3350 and/or its components(e.g., a perception engine module, a localization module, a plannermodule, and/or a motion controller module), any of which, or one or moreportions of which, can be configured to facilitate an autonomous vehicleservice by implementing one or more functions described herein.

Referring to the example shown in FIG. 34, system memory 3306 includesan autonomous vehicle service platform module 3450 and/or its components(e.g., a teleoperator manager, a simulator, etc.), any of which, or oneor more portions of which, can be configured to facilitate managing anautonomous vehicle service by implementing one or more functionsdescribed herein.

Referring to the example shown in FIG. 35, system memory 3306 includesan autonomous vehicle (“A V”) module and/or its components for use, forexample, in a mobile computing device. One or more portions of module3550 can be configured to facilitate delivery of an autonomous vehicleservice by implementing one or more functions described herein.

Referring back to FIG. 33, the structures and/or functions of any of theabove-described features can be implemented in software, hardware,firmware, circuitry, or a combination thereof. Note that the structuresand constituent elements above, as well as their functionality, may beaggregated with one or more other structures or elements. Alternatively,the elements and their functionality may be subdivided into constituentsub-elements, if any. As software, the above-described techniques may beimplemented using various types of programming or formatting languages,frameworks, syntax, applications, protocols, objects, or techniques. Ashardware and/or firmware, the above-described techniques may beimplemented using various types of programming or integrated circuitdesign languages, including hardware description languages, such as anyregister transfer language (“RTL”) configured to designfield-programmable gate arrays (“FPGAs”), application-specificintegrated circuits (“ASICs”), or any other type of integrated circuit.According to some embodiments, the term “module” can refer, for example,to an algorithm or a portion thereof, and/or logic implemented in eitherhardware circuitry or software, or a combination thereof. These can bevaried and are not limited to the examples or descriptions provided.

In some embodiments, module 3350 of FIG. 33, module 3450 of FIG. 34, andmodule 3550 of FIG. 35, or one or more of their components, or anyprocess or device described herein, can be in communication (e.g., wiredor wirelessly) with a mobile device, such as a mobile phone or computingdevice, or can be disposed therein.

In some cases, a mobile device, or any networked computing device (notshown) in communication with one or more modules 3359 (module 5 3350 ofFIG. 33, module 3450 of FIG. 34, and module 3550 of FIG. 35) or one ormore of its components (or any process or device described herein), canprovide at least some of the structures and/or functions of any of thefeatures described herein. As depicted in the above-described figures,the structures and/or functions of any of the above-described featurescan be implemented in software, hardware, firmware, circuitry, or anycombination thereof. Note that the structures and constituent elementsabove, as well as their functionality, may be aggregated or combinedwith one or more other structures or elements. Alternatively, theelements and their functionality may be subdivided into constituentsub-elements, if any. As software, at least some of the above-describedtechniques may be implemented using various types of programming orformatting languages, frameworks, syntax, applications, protocols,objects, or techniques. For example, at least one of the elementsdepicted in any of the figures can represent one or more algorithms Or,at least one of the elements can represent a portion of logic includinga portion of hardware configured to provide constituent structuresand/or functionalities.

For example, module 3350 of FIG. 33, module 3450 of FIG. 34, and module3550 of FIG. 35, or one or more of its components, or any process ordevice described herein, can be implemented in one or more computingdevices (i.e., any mobile computing device, such as a wearable device,an audio device (such as headphones or a headset) or mobile phone,whether worn or carried) that include one or more processors configuredto execute one or more algorithms in memory. Thus, at least some of theelements in the above-described figures can represent one or morealgorithms Or, at least one of the elements can represent a portion oflogic including a portion of hardware configured to provide constituentstructures and/or functionalities. These can be varied and are notlimited to the examples or descriptions provided.

As hardware and/or firmware, the above-described structures andtechniques can be implemented using various types of programming orintegrated circuit design languages, including hardware descriptionlanguages, such as any register transfer language (“RTL”) configured todesign field-programmable gate arrays (“FPGAs”), application-specificintegrated circuits (“ASICs”), multi-chip modules, or any other type ofintegrated circuit.

For example, module 3350 of FIG. 33, module 3450 of FIG. 34, and module3550 of FIG. 35, or one or more of its components, or any process ordevice described herein, can be implemented in one or more computingdevices that include one or more circuits. Thus, at least one of theelements in the above-described figures can represent one or morecomponents of hardware. Or, at least one of the elements can represent aportion of logic including a portion of a circuit configured to provideconstituent structures and/or functionalities.

FIG. 36 is a diagram 3600 depicting implementation of a policy explorerconfigured to provide updated policy data to one or more autonomousvehicles in a fleet of autonomous vehicles, according to variousexamples. Diagram 3600 illustrates a road network 3650 having autonomousvehicles 3630 and 3630 a that are autonomously navigating roads of theroad network 3650 and driver operated vehicles 3640 being driven onroads of the road network 3650. Road network 3650 may include regions(e.g., a region 3624) transited by autonomous vehicles (e.g., 3630, 3630a) and the autonomous vehicles may employ various systems (e.g.,planner, perception, localizer and sensor systems) to autonomouslynavigate roads of the road network 3650. Objects detected by theautonomous vehicles (e.g., 3630, 3630 a) during their transit mayinclude objects having semantic classifications that are known (e.g.,previously classified objects) and objects that may not have a knownsemantic classification. Similarly, events or conditions encountered bythe autonomous vehicles (e.g., 3630, 3630 a) during their transit may beevents or conditions that are recognized based on previous encountersand/or analysis (e.g., via simulation data or teleoperator data) or maybe events or conditions that are not recognized based on past encountersand/or analysis. Data captured by the autonomous vehicles (e.g., sensorsystems of vehicles 3630 and/or 3630 a) in road network 3650 and/orother road networks (denoted by 3698) may be analyzed in-situ by one ormore systems of the autonomous vehicles and/or may be communicated to anexternal resource for analysis to learn and designate new semanticclassifications for previously unknown objects and/or to providealternative candidate trajectories and/or vehicle control parameters(e.g., velocity, power consumption, etc.) based on objects, conditionsor events.

Road network 3650 may represent a geo-fenced region or a portion of ageo-fenced region that may limit or otherwise control the movement ofthe autonomous vehicles 3630 and 3630 a, for example. Autonomousvehicles 3630 and 3630 a may be a subset of autonomous vehicles in afleet of autonomous vehicles, for example. Other autonomous vehicles inthe fleet of autonomous vehicles may be actively navigating other roadnetworks in one or more other geo-fenced regions as denoted by 3698.Each autonomous vehicle 3630 and 3630 a may implement sensing of anenvironment external to the autonomous vehicle using a sensor systemincluded in each autonomous vehicle. For example, an autonomous vehicledenoted as 3630 a may include sensor suites 3610 a-3610 d to sense theenvironment external to the autonomous vehicle 3630 a as the vehicleautonomously navigates road surfaces within the road network 3650.Sensor suites 3610 a-3610 d may be configured to provide 360 degrees ofoverlapping sensor coverage regions (denoted as dashed circle 3601 a)around the autonomous vehicle 3630 a, for example. The other autonomousvehicles 3630 may also include sensor suites that provide 360 degrees ofoverlapping sensor coverage regions (denoted as dashed circle 3610)around the autonomous vehicles 3630, for example.

Further to diagram 3600, the autonomous vehicle 3630 a may beautonomously navigating a road surface 3623 in a region 3624 of the roadnetwork 3650 in a direction of travel along a lane 3622 of the roadsurface 3623 generally indicated by arrow 3632, for example. A sensorsystem (not shown) of vehicle 3630 a may detect objects on or proximatethe road surface 3623 and sensor data indicative of those objects may beprocessed and classified by one or more systems (e.g., a perceptionsystem and/or a planner system) of the autonomous vehicle 3630 a, forexample. In the region 3624, the environment external to the autonomousvehicle 3630 a may include but is not limited to the following detectedobjects (e.g., objects classified based on processed sensor data by aperception system): a building 3602; the road surface 3623, a lanemarker 3625; lanes 3622 and 3628, curbs 3626 and 3627, pedestrians 3620,a fire hydrant 3631, and potholes 3634.

A planner 3670 of the autonomous vehicle 3630 a may be configured toimplement autonomous control of the autonomous vehicle 3630 a in theroad network 3650 based on data including but not limited to telemetrydata 3671 and policy data 3672. Telemetry data 3671 may include but isnot limited to sensor data 3673 generated by sensor types and modalitiesof sensors in the sensor system of the autonomous vehicle 3630 a (e.g.,one or more sensors depicted in FIG. 3A), data 3675 generated by aperception engine, data 3677 generated by a localizer, and motioncontroller data 3679, for example. Telemetry data 3671 may include moredata or less data than depicted as denoted by 3676. Perception enginedata 3675 may include object data generated from the sensor data 3673and maps of locations of static objects and dynamic objects of interestdetected in the region 3624, for example. Localizer data 3677 mayinclude at least a local pose data and/or position data associated witha location of the autonomous vehicle 3630 a, map data, and map tiledata, for example. Motion controller data 3679 may include datarepresentative of commands and/or signals associated with steering,throttle or propulsion and braking functions of the autonomous vehicle(e.g., signals or data applied to actuators or other mechanicalinterfaces of the autonomous vehicle) to implement changes in steering(e.g., wheel angle), velocity or braking of the autonomous vehicles 3630a and 3630, for example.

Policy data 3672 may include data 3674 being configured to implementcriteria with which planner 3670 uses to determine a path (e.g., aselected candidate trajectory) that has a sufficient confidence levelwith which to generate trajectories, according to some examples.Examples of data 3674 includes policies that specify that trajectorygeneration is bounded by stand-off distances to external objects (e.g.,maintaining a safety buffer of 3 feet from a cyclist, as possible), orpolicies that require that trajectories must not cross a center doubleyellow line, etc. Data 3674 may include but is not limited to datarepresenting confidence levels associated with candidate trajectoriesgenerated by the planner 3670 in response to an event (e.g., thepotholes 3634) and an operational state of the autonomous vehicle (e.g.,normative or non-normative), etc. In some examples, the data 3674 may begenerated by a teleoperator. In other examples, the data 3674 may begenerated by a simulator. In yet other examples, the data 3674 may begenerated by the planner of autonomous vehicle 3630 a or by anotherautonomous vehicle (e.g., by a planner in one of the vehicle's 3630).

Planner 3670 may communicate some or all of the data associated with thetelemetry data 3671 and/or policy data 3672 as data 3696. Data 3639 maybe communicated to a policy explorer 3699 being configured to receivethe data 3696 and process the data 3696 using one or more computerresources 3692. The one or more computer resources 3692 may include butare not limited to circuitry, logic, field programmable gate array(FPGA), application specific integrated circuits (ASIC), programmablelogic, a digital signal processor (DSP), a graphics processing unit(GPU), a microprocessor, a microcontroller, a big fat computer (BFC) orothers, or clusters thereof. In some examples, the policy explorer(e.g., 3699) may be implemented in a planner of an autonomous vehicle.

Further to diagram 3600, the planner 3670 of autonomous vehicle 3630 amay have calculated candidate trajectories 3651, each having a highconfidence level associated with safely navigating autonomous vehicle3630 a around the potholes 3634 in road surface 3623. The planner 3670may select one of the candidate trajectories 3651 for execution by theautonomous vehicle 3630 a and the selected trajectory is denoted as 3652(depicted in heavy line).

Due to the position of the potholes 3634 on the road surface 3623, theautonomous vehicle 3630 a may not be able to avoid hitting one or bothof the potholes; therefore, there is a possibility that hitting one orboth of the potholes 3634 may cause damage to the autonomous vehicle3630 a and/or affect ride comfort of passengers being transported by theautonomous vehicle 3630 a. In some examples, the selected trajectory3652 may be calculated to allow the autonomous vehicle 3630 a tocontinue its transit through region 3624 by traveling past the potholes3634. In other examples, the selected trajectory 3652 may be calculatedto allow the autonomous vehicle 3630 a to execute a safe stop trajectoryto prevent the autonomous vehicle 3630 a from potentially running overone or both of the potholes 3634 and being damaged and/or disturbingpassengers. In yet other examples, the planner 3670 may implement one ofan alternative set of candidate trajectories 3653 being configured tocause the autonomous vehicle 3630 a to avoid the potholes 3634 (e.g., bychanging lanes from lane 3266 to lane 3624). For example, the planner3670 may select alternative candidate trajectory 3654 (denoted in heavyline) from a set of alternative candidate trajectories 3653 (e.g., basedon a confidence level associated with each alternative candidatetrajectory 3653). In other examples, an external system (e.g., asimulator or teleoperator) in communication with the autonomous vehicle3630 a may compute the alternative candidate trajectories 3653, rank thealternative candidate trajectories 3653 (e.g., ranked in order ofconfidence level from highest confidence level to lowest confidencelevel) and select one of the alternative candidate trajectories 3653 tobe executed (e.g., alternative candidate trajectory 3654) by theautonomous vehicle 3630 a under control of the planner 3670.

The data 3696 representing the telemetry data 3671 and/or policy data3672 may be received by the policy explorer 3699. The policy explorer3699 may be configured to implement generation of policy updated policydata 3694 (e.g., new policy data, revised policy data) based on the data3696 (e.g., the telemetry data 3671, the policy data 3672 or both). Theone or more computer resources 3692 may access one or more datarepositories 3693, 3695, 3697, 3691) and may compare, compute, correlateor otherwise process data associated with data 3696 and one or more ofthe data repositories to generate updated policy data 3694.

Data repositories 3693, 3695, 3697, 3691 need not be internal to thepolicy explorer 3699 and some or all of the data repositories may beaccessed from a resource external to the policy explorer 3699. Datarepository 3693 may include data representative of sensor data, mapdata, local pose data, telemetry data, policy data and other dataassociated with autonomous vehicles in the of autonomous fleet. Datarepository 3693 may include processed data and/or raw (e.g., unprocesseddata). Data repository 3695 may include data representative ofsimulation data associated with one or more vehicles in the fleet ofautonomous vehicles. Data repository 3697 may include datarepresentative of teleoperations associated with one or more vehicles inthe fleet of autonomous vehicles. Data repository 3691 may include otherdata associated with operation of a fleet of autonomous vehicles. Policyexplorer 3699 may include and/or have access to more or fewer datarepositories than depicted in diagram 3600, for example. Policy explorer3699 may include and/or have access to data repositories having othertypes of data than described above in reference to diagram 3600, forexample.

The policy explorer 3699 may communicate the updated policy data 3694 toone or more autonomous vehicles (e.g., 3630 or other vehicles in thefleet) and/or to the autonomous vehicle 3630 a, for example. In otherexamples, the updated policy data 3694 may be communicated to ateleoperator, a simulator or both.

Updated policy data 3694 may include one or more candidate trajectoriesand the one or more candidate trajectories may have the same ordifferent confidence levels associated with each candidate trajectory.Candidate trajectories may be arranged in a predetermined order or rank,such as a ranking order based on confidence level (e.g. ranked fromhighest confidence level to lowest confidence level or vice-versa).

Updated policy data 3694 may include other data being configured tocause a system that receives the data (e.g., an autonomous vehicle, asimulator, a teleoperator) to take an action, such as implementing aselected one of the one or more candidate trajectories, for example. Inother examples, the other data may be configured to allow the systemthat receives the data to select, based on a criteria (e.g., rankingbased on highest confidence level), one of the one or more candidatetrajectories for implementation (e.g., to determine which of the one ormore candidate trajectories is selected as the selected candidatetrajectory). As one example, updated policy data 3694 may include databeing configured to cause candidate trajectory 3654 to be selected bythe system receiving the updated policy data 3694. As another example,updated policy data 3694 may include data being configured to cause theautonomous vehicle 3630 a to decide which of the candidate trajectoriesto be selected based on a criteria (e.g., applied by planner 3670) thatmay be applied to data included in updated policy data 3694, such as theabove mentioned confidence level associated with each candidatetrajectory.

In some examples, a selected candidate trajectory (e.g., candidatetrajectory 3654) may be selected based on a policy requiring theselected candidate trajectory having a confidence level predicted toprovide a safe trajectory for the autonomous vehicle to navigate basedon an event or condition that prompted the updated policy data to begenerated. In other examples, a selected candidate trajectory (e.g.,candidate trajectory 3654) may be selected based on a policy underlininga preferred customer experience (e.g., a smooth ride absent the joltingeffects of potholes) or other metric associated with operation of theautonomous vehicle (e.g., averting potential damage due to an event suchas potholes, road debris etc.).

In other examples, the updated policy data 3694 may be received by asystem (e.g., autonomous vehicle 3630 a) after the event has alreadyoccurred and policy data (e.g., policy data 3672) in place at the timeof the event may have been used to determine a selected candidatetrajectory (e.g., 3652) from one or more computed (e.g., by planner 367)candidate trajectories (3653). The later received updated policy data3694 may be accessed to implement candidate trajectory determinations ata future time when another event (e.g., detection by a sensor system andsemantic classification by a perception and/or planner of potholes 3634)occasions machine learning to consider alternative policy data to avoidor otherwise mitigate the effects of the event on operation of theautonomous vehicle. For example, the updated policy data 3694 may beaccessed by a planner to compute candidate trajectories 3653, to comparethe candidate trajectories 3653 with candidate trajectories 3651, andselect (e.g., based on confidence levels) which candidate trajectory toselect for guiding the path of the autonomous vehicle. The updatedpolicy data 3694 may include data representing rules associated withevents or semantic classifications of pothole objects detected along acomputed path of an autonomous vehicle and the rule may determine thatcandidate trajectories 3651 be rejected in favor of candidatetrajectories 3653 because candidate trajectories 3653 avoid thepossibility of contact with the potholes 3634, for example.

FIG. 37 depicts an example of a flow chart to generate updated policydata, according to various examples. In flow chart 3700, at a stage3702, data representing telemetry data (e.g., telemetry data 3671) andpolicy data (e.g., policy data 3672) may be received (e.g., at policyexplorer 3699). The telemetry data and the policy data may be associatedwith an event in a region of an environment an autonomous vehicle hasautonomously navigated. In some examples, the telemetry data and thepolicy data may be associated with an event in a region of anenvironment an autonomous vehicle is currently autonomously navigating(e.g., telemetry data and the policy data receive in real-time or innear-real-time).

At a stage 3704, data representing a confidence level associated withthe event may be extracted from the policy data. For example, theconfidence level may be ranked confidence level values associated withcandidate trajectories computed by a planner of the autonomous vehicle.

At a stage 3706, a state of operation of the autonomous vehicle may bedetermined based on the confidence level. For example, the confidencelevel extracted at the stage 3704 may exceed a range of acceptableconfidence levels associated with normative operation of the autonomousvehicle (e.g., an optimized path having a computed probability offacilitating collision-free travel of the autonomous vehicle, complyingwith traffic laws, providing a comfortable user experience or acomfortable user ride). As another example, the confidence levelextracted at the stage 3704 may be indicative of confidence levelsassociated with non-normative operation of the autonomous vehicle due topossible trajectories that are insufficient to guarantee collision-freetravel of the autonomous vehicle.

At a stage 3708, data representing candidate trajectories responsive tothe event (e.g., trajectories that avoid contact with potholes 3634) maybe calculated based on the telemetry data and the state of operation ofthe autonomous vehicle (e.g., normative or non-normative operation).Each candidate trajectory calculated at the stage 3708 may have anassociated confidence level.

At a stage 3710, updated policy data associated with the event may begenerated. The updated policy data may include the candidatetrajectories.

At a stage 3712, the updated policy data may be communicated (e.g.,transmitted). As one example, the updated policy data may becommunicated to a planner of at least one autonomous vehicle (e.g., toone or more autonomous vehicles in a fleet of autonomous vehicles). Inother examples, the updated policy data may be communicated to ateleoperator (e.g., being configured to influence path planning and/ornavigational control in one or more autonomous vehicles). In yet otherexamples, the updated policy data may be communicated to a simulator(e.g., configured to simulate an autonomous vehicle in a syntheticenvironment). In some examples, the updated policy data may becommunicated to a data store, memory (e.g., non-volatile memory), datarepository or other data storage system.

One or more of the stages of flow chart 3700 may be implemented by apolicy explorer (e.g., policy explorer 3699 of FIG. 36) or other system(e.g., a planner, a teleoperator, a simulator). The updated policy datamay be communicated using wired (e.g., 3642 in FIG. 36) and/or wireless(e.g., 3641 in FIG. 36) communication over one or more datacommunications networks, for example.

FIG. 38 is a diagram 3800 depicting implementation of a policy explorerin a simulator, according to various examples. In diagram 3800,simulator 3840 may be configured to simulate one or more autonomousvehicles in a synthetic environment as was described above in referenceto FIG. 28. Data inputs 3896 to simulator 3840 may include but is notlimited to data from sensors 3870 and data 3820. Sensor data 3870 mayinclude but is not limited to LlDAR data 3872, camera data 3874, RADARdata 3876, SONAR data 3878, and other sensor data 3880 (e.g., GPS, IMU,environmental sensors, microphones, motion sensors, wheel encoders,accelerometers, etc.). Data 3820 may include but is not limited to mapdata 3822, 3824, 3825, 3826, local pose data 3828, and policy data 3874.Data 3820 and/or sensor data 3870 may be generated in real-time or innear-real time (e.g., by one or more autonomous vehicles), or may beaccessed from a data store or data repository, for example. Data 3820and/or sensor data 3870 may constitute aggregated data from multipleautonomous vehicles. In some examples, at least a portion of data 3820and/or sensor data 3870 is received from one or more autonomous vehicles(e.g., 3830 or 3630 a in FIG. 36). Data received by simulator 3840 maygenerally be denoted 3896 and may include data from data 3820, sensordata 3870 or both.

Policy explorer 3899 may access functionality of physics processor 3850and its associated sub-blocks 3851, 3852 and 3854, controller 3856 andevaluator 3858, for example. Policy explorer 3899 may accessfunctionality of correlator 3861 to determine correlation between itemsof data, comparator 3862 to compare data with other data, statisticalchange point detector 3864 and/or probabilistic inference calculator3863 to determine confidence intervals. Policy explorer 3899 maygenerate simulated policy data to be simulated in simulator 3840 andgenerate updated policy data 3894 based on analysis of simulationresults, such as confidence levels associated with simulated candidatetrajectories. For example, updated policy data 3894 may be determined,at least in part, by simulated candidate trajectories having highconfidence levels that meet and/or exceed a predetermined value (e.g.,95% or higher confidence level).

Updated policy data 3894 may be communicated (e.g., via a communicationsnetwork) to one or more destinations including but not limited to ateleoperator 3894, one or more autonomous vehicles 3830, and a datarepository 3890, for example. Teleoperator 3891 may generate policy data3897 based on the updated policy data 3896. Teleoperator 3891 maygenerate policy data 3897 based on other data, such as data 3896,updated policy data 3894 or both, for example.

FIG. 39 is a diagram 3900 depicting implementation of a policy explorerin a teleoperator, according to various examples. In diagram 3900,teleoperator 3940 may receive data 3996 that includes data from sensors3970, data 3920, or both. Sensors 3970 and data 3920 may include datasimilar to data described above in reference to FIG. 38, for example. Apolicy explorer 10 3999 implemented in teleoperator 3940 may accessesfunctionality of the teleoperator 3940 and/or functionality of one ormore of correlator 3961, comparator 3962, change point detector 3964 orprobabilistic inference calculator 3963, for example. Policy explorer3999 may generate updated policy data 3994. Updated policy data 3994 maybe communicated (e.g., via a communications network) to one or moredestinations including but not limited to a simulator 3990 (e.g., seesimulator 3840 in FIG. 38), one or more autonomous vehicles 3930, and adata repository 3991, for example. Simulator 3990 may generate policydata 3997 based on the updated policy data 3994. Simulator 3990 maygenerate policy data 3997 based on other data, such as data 3996,updated policy data 3994 or both, for example.

Policy explorer 3899 of FIG. 38 and/or policy explorer 3999 of FIG. 39may generate updated policy data based on one or more of the stagesdescribed above in reference to flow chart 3700 of FIG. 37, for example.

According to some embodiments, the term “circuit” can refer, forexample, to any system including a number of components through whichcurrent flows to perform one or more functions, the components includingdiscrete and complex components. Examples of discrete components includetransistors, resistors, capacitors, inductors, diodes, and the like, andexamples of complex components include memory, processors, analogcircuits, digital circuits, and the like, including field-programmablegate arrays (“FPGAs”), application-specific integrated circuits(“ASICs”). Therefore, a circuit can include a system of electroniccomponents and logic components (e.g., logic configured to executeinstructions, such that a group of executable instructions of analgorithm, for example, and, thus, is a component of a circuit).According to some embodiments, the term “module” can refer, for example,to an algorithm or a portion thereof, and/or logic implemented in eitherhardware circuitry or software, or a combination thereof (i.e., a modulecan be implemented as a circuit). In some embodiments, algorithms and/orthe memory in which the algorithms are stored are “components” of acircuit. Thus, the term “circuit” can also refer, for example, to asystem of components, including algorithms. These can be varied and arenot limited to the examples or descriptions provided.

Although the foregoing examples have been described in some detail forpurposes of clarity of understanding, the above-described inventivetechniques are not limited to the details provided. There are manyalternative ways of implementing the above-described inventiontechniques. The disclosed examples are illustrative and not restrictive.

1-13. (canceled)
 14. A method comprising: receiving telemetry data froman autonomous vehicle, the telemetry data comprising sensor data from asensor on the autonomous vehicle; receiving policy data; determining,based at least in part on at least one of the telemetry data or thepolicy data, an event in a region of an environment through which theautonomous vehicle has traversed; determining, based at least in part onthe event, that a state of operation of the autonomous vehicle isnon-normative, the non-normative state indicating an insufficiency ofguaranteeing collision-free travel; determining, based at least in parton the state of operation, a plurality of trajectories; determining,based at least in part on a trajectory of the plurality of trajectories,updated policy data; and transmitting the updated policy data to theautonomous vehicle, the updated policy data configured to cause theautonomous vehicle to operate according to one or more policies of theupdated policy data.
 15. The method as claim 14 recites, whereindetermining updated policy data comprises determining, via a policyexplorer, the updated policy data, and wherein the policy data comprisesone or more of: requiring trajectories to have stand-off distances tonearby objects; or requiring trajectories to stay within a double yellowline.
 16. The method as claim 14 recites, wherein determining that thestate of operation of the autonomous vehicle is non-normative comprisesdetermining whether a confidence level associated with the event meetsor exceeds a threshold confidence level.
 17. The method as claim 14recites, wherein determining updated policy data comprises simulatingone or more simulated autonomous vehicle in a simulated environment. 18.The method as claim 17 recites, wherein simulating one or more simulatedautonomous vehicles comprises simulating one or more simulated LIDARdevices, simulated RADAR sensors, or simulated camera sensors.
 19. Themethod as claim 14 recites, wherein determining updated policy datacomprises receiving, from a teleoperator via a policy explorer, theupdated policy data.
 20. A system comprising: one or more processors;memory having stored thereon processor-executable instructions that,when executed by the one or more processors, cause the system to:receive telemetry data from an autonomous vehicle, the telemetry datacomprising sensor data from a sensor on the autonomous vehicle; receivepolicy data; determine, based at least in part on at least one of thetelemetry data or the policy data, a confidence level associated with anevent in a region of an environment surrounding the autonomous vehicle;determine, based at least in part on the confidence level, a pluralityof trajectories; determine, based at least in part on a trajectory ofthe plurality of trajectories, updated policy data; and transmit theupdated policy data to the autonomous vehicle, the updated policy dataconfigured to cause the autonomous vehicle to operate according to oneor more policies of the updated policy data.
 21. The system as claim 20recites, wherein determining the confidence level comprises determiningat least a first confidence level associated with a first candidatetrajectory generated by the autonomous vehicle; and wherein theplurality of trajectories comprise alternate trajectories that differfrom the first candidate trajectory.
 22. The system as claim 21 recites,wherein the first candidate trajectory is one of a plurality ofcandidate trajectories, and wherein at least one of the policy data orthe updated policy data comprises a rule associated with the event thatcauses the autonomous vehicle to select a guiding trajectory forcontrolling motion of the autonomous vehicle from among the alternatetrajectories instead of the plurality of candidate trajectories.
 23. Thesystem as claim 20 recites, wherein determining updated policy datacomprises determining, via a policy explorer, the updated policy data,and wherein at least one of the policy data or the updated policy datacomprises one or more of: a rule associated with the event or a semanticclassification of an object in the environment, the rule causing theautonomous vehicle to select a guiding trajectory differently during theevent or detection of the object than during normative operation;requiring trajectories to have stand-off distances to nearby objects; orrequiring trajectories to stay within a double yellow line.
 24. Thesystem as claim 20 recites, wherein the instructions further cause thesystem to determine, based at least in part on the confidence level,that a state of operation of the autonomous vehicle is non-normativebased at least in part on determining that the confidence level does notmeet a threshold confidence level, wherein a non-normative state ofoperation is indicative of an insufficiency of guaranteeingcollision-free travel.
 25. The system as claim 20 recites, whereindetermining updated policy data comprises simulating one or moresimulated autonomous vehicles in a simulated environment
 26. The systemas claim 25 recites, wherein simulating one or more simulated autonomousvehicles comprises simulating one or more simulated LIDAR devices,simulated RADAR sensors, or simulated camera sensors.
 27. The system asclaim 20, wherein determining updated policy data comprises receiving,from a teleoperator via a policy explorer, the updated policy data. 28.The system as claim 27 recites, wherein the instructions, when executedby the one or more processors, further cause the system to transmit theupdated policy data to a second autonomous vehicle.
 29. A systemcomprising: one or more processors; one or more sensors; a memorystoring processor-executable instructions that, when executed by the oneor more processors, cause the system to: receive telemetry data from theone or more sensors; receive policy data; determine, based at least inpart on at least one of the telemetry data or the policy data, an eventin a region of an environment surrounding an autonomous vehicle and aconfidence level associated with the event; transmit, to a seconddevice, at least part of at least one of the telemetry data or thepolicy data; receive, from the second device, updated policy data;alter, based at least in part on the updated policy data, operation ofthe autonomous vehicle during the event.
 30. The system as claim 29recites, wherein altering operation of the autonomous vehicle comprisesat least one of: generating an alternate trajectory in addition to aplurality of trajectories generated by the autonomous vehicle atsubstantially the same time that the event was detected; selecting,based at least in part on a rule associated with the event or a semanticclassification, a trajectory for controlling motion of the autonomousvehicle, the updated policy data comprising the rule; or modifying astand-off distance to nearby objects.
 31. The system as claim 29recites, wherein the second device comprises a second autonomous vehicleor a teleoperation device.
 32. The system as claim 29 recites, whereintransmitting the at least one of the telemetry data or the policy datais based at least in part on determining that the confidence level doesnot meet or exceed a threshold confidence level.
 33. The system as claim29 recites, wherein determining the confidence level comprisesdetermining at least a first confidence level associated with a firstcandidate trajectory generated by the autonomous vehicle; and whereinthe updated policy data causes the autonomous vehicle to determine analternate trajectory that differs from the first candidate trajectory.